Generalized 4-Points Congruent Sets for 3D Registration
Why this work is in the frame
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Bibliographic record
Abstract
The 4-Points Congruent Sets (4PCS) algorithm is a state-of-the-art RANSAC-based algorithm for registering two partially overlapping 3D point sets using raw points. Unlike other RANSAC-based algorithms, which try to achieve registration by searching for matching 3-point bases, it uses a base of two coplanar pairs of points to reduce the search space matching bases. In this work, we first generalize the algorithm by allowing the two pairs to fall on two different planes which have an arbitrary distance, i.e. Degree of separation, between them. Furthermore, we show that increasing the degree of separation exponentially decreases the search space of matching bases. Using this property, we show that using the new generalized base allows for more efficient registration than the original 4PCS base type. We achieve a maximum run-time improvement of 83.10% for 3D registration.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it