PLADE: A Plane-Based Descriptor for Point Cloud Registration with Small Overlap

Songlin Chen, Liangliang Nan*, Renbo Xia, Jibin Zhao, Peter Wonka

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

78 Citations (Scopus)
92 Downloads (Pure)


Traditional point cloud registration methods require large overlap between scans, which imposes strict constraints on data acquisition. To facilitate registration, users have to carefully position scanners to ensure sufficient overlap. In this article, we propose to use high-level structural information (i.e., plane/line features and their interrelationship) for registration, which is capable of registering point clouds with small overlap, allowing more freedom in data acquisition. We design a novel plane-/line-based descriptor dedicated to establishing structure-level correspondences between point clouds. Based on this descriptor, we propose a simple but effective registration algorithm. We also provide a data set of real-world scenes containing a larger number of scans with a wide range of overlap. Experiments and comparisons with state-of-the-art methods on various data sets reveal that our method is superior to existing techniques. Though the proposed algorithm outperforms state-of-the-art methods on the most challenging data set, the point cloud registration problem is still far from being solved, leaving significant room for improvement and future work.

Original languageEnglish
Pages (from-to)2530-2540
Number of pages11
JournalIEEE Transactions on Geoscience and Remote Sensing
Issue number4
Publication statusPublished - 2020

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Data set
  • descriptor
  • point cloud
  • registration
  • scanning


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