PARTE - Plane-Assisted Robust Transformation Estimation

PARTE augments point-based registration with planar patches to reduce outliers and runtime while remaining usable as point-only when scenes lack planes. A graph-based pruning stage finds a maximum clique over mixed correspondences to survive extreme outlier rates. The pose is then estimated by minimizing a joint point and plane objective: $ \min_{T} \; E(T) + \lambda\,E'(T) $.

Stages are modular. Each module has its own page with an in-canvas UI driven by the compiled C++.

Reported aggregate metrics from the benchmark suite.

Load a sample on each module page. The C++ WASM owns parameters and draws its own UI in the canvas. Use the Back/Next pager or the section links to navigate.