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FlashReg: GPU-Accelerated 3-Clique Point Cloud Registration for Real-Time Correspondence-to-Pose Estimation

2026-08-22 06:53:42
Ziyang Yu, Xiang Li, Qiong Chang, Jun Miyazaki
arXiv_CV
         
Abstract

Graph-based point cloud registration achieves high robustness by identifying geometrically consistent correspondence sets, but constructing second-order compatibility graphs and enumerating candidate cliques remain compute- and memory-intensive. This work presents FlashReg, a GPU-oriented correspondence-to-pose estimator that avoids materializing the dense scored second-order graph. Its Fast First- and Second-Order Graph (FFSOG) construction builds a capacity-bounded sparse second-order graph directly from the binary first-order graph. A dataflow-optimized three-node clique (3-clique) search then selects pivots from compact per-row candidate pools and enumerates triples through sorted sparse-neighborhood intersections. Across indoor and outdoor benchmarks, FlashReg reduces correspondence-to-pose latency by 2--3x relative to TurboReg at comparable registration recall, while using about 50% of its peak allocated tensor memory on an embedded GPU. These results make FlashReg suitable as a high-throughput registration backend within onboard perception pipelines.

Abstract (translated)

URL

https://arxiv.org/abs/2608.21804

PDF

https://arxiv.org/pdf/2608.21804.pdf

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