{"ID":2835355,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.22908","arxiv_id":"2511.22908","title":"ViGG: Robust RGB-D Point Cloud Registration using Visual-Geometric Mutual Guidance","abstract":"Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature learning, which limits their ability to exploit image information and hinders their practical applicability. In this paper, we propose ViGG, a robust RGB-D registration method using mutual guidance. First, we solve clique alignment in a visual-geometric combination form, employing a geometric guidance design to suppress ambiguous cliques. Second, to mitigate accuracy degradation caused by noise in visual matches, we propose a visual-guided geometric matching method that utilizes visual priors to determine the search space, enabling the extraction of high-quality, noise-insensitive correspondences. This mutual guidance strategy brings our method superior robustness, making it applicable for various RGB-D registration tasks. The experiments on 3DMatch, ScanNet and KITTI datasets show that our method outperforms recent state-of-the-art methods in both learning-free and learning-based settings. Code is available at https://github.com/ccjccjccj/ViGG.","short_abstract":"Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature learning, which limits their ability to exploit image information and hinders their prac...","url_abs":"https://arxiv.org/abs/2511.22908","url_pdf":"https://arxiv.org/pdf/2511.22908v1","authors":"[\"Congjia Chen\",\"Shen Yan\",\"Yufu Qu\"]","published":"2025-11-28T06:27:37Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[]","has_code":false,"code_links":[{"ID":606501,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2835355,"paper_url":"https://arxiv.org/abs/2511.22908","paper_title":"ViGG: Robust RGB-D Point Cloud Registration using Visual-Geometric Mutual Guidance","repo_url":"https://github.com/ccjccjccj/ViGG","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}