KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

Fast and robust global registration for terrestrial robots @ ICRA2022

OpenGR: A C++ library for 3D Global Registration

[ICCV-2025] TurboReg: TurboClique for Robust and Efficient Point Cloud Registration

graph-theoretic framework for robust pairwise data association

K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)

[ICRA 2023] Segregator: Global Point Cloud Registration with Semantic and Geometric Cues

Configurable point cloud registration pipeline.

Azure Kinect multi-camera extrinsic calibration

Implementation of ICCV 2017: Colored Point Cloud Registration Revisited

Calibration of LiDAR-Sensors - PointCloud Alignment/Registration tools with PCL & ROS

header-only C++ library for registering 3D point clouds using rotation, translation, and scale transformations

Analysis and implementation of ICP variants

Repository for software and assets developed during Eberty's master's project

High-Fidelity 3D Reconstruction via Graph Optimization. A Multi-Frame Registration and reconstruction algorithm.

Implementation of Iterative Closest Point and Trimmed Iterative Closest Point algorithms.

Single-Header Reference Implementation of Rigid Coherent Point Drift in C++ / Eigen3 in < 80 LOC

SJTU CS473 Project: Implementation of Deep Closest Point in TensorFlow, and its comparison with other registration methods.

Robust Registration Solvers