On Maximum Clique and Maximum Consensus Formulations in Point Cloud Registration
Maximum clique and maximum consensus are widely used formulations for robust point cloud registration in robotics. Maximum consensus seeks one transformation that aligns as many matches as possible, while maximum clique selects matches through pairwise distance tests. Maximum clique is often used as a substitute for or an approximation to maximum consensus, with empirical evidence suggesting a close relationship. However, how closely the two formulations agree is not fully understood. We study this relationship theoretically. We show that a maximum clique can have arbitrarily large alignment error and be arbitrarily larger than the maximum consensus set at any fixed positive tolerance, an...
| Authors | Abolfazl Babanazari, Kaveh Fathian |
|---|---|
| Primary category | cs.RO |
| Published | 19 October 2026 |
| Last updated at source | 19 October 2026 |
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