Paired-CSLiDAR: Height-Stratified Registration for Cross-Source Aerial-Ground LiDAR Pose Refinement
We introduce Paired-CSLiDAR (CSLiDAR), a cross-source aerial-ground LiDAR benchmark for single-scan pose refinement: refining a ground-scan pose within a 50 m-radius aerial crop. The benchmark contains 12,683 ground-aerial pairs across 6 evaluation sites and per-scan reference 6-DoF alignments for sub-meter root-mean-square error (RMSE) evaluation. Because aerial scans capture rooftops and canopy while ground scans capture facades and under-canopy, the two modalities share only a fraction of their geometry, primarily the terrain surface, causing standard registration methods and learned correspondence models to converge to metrically incorrect local minima. We propose Residual-Guided Stra...
| Authors | Montana Hoover, Jing Liang, Tianrui Guan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 May 2026 |
| Last updated at source | 1 May 2026 |
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