README.md

---
license: apache-2.0
pipeline_tag: robotics
tags:
- point-cloud
- 3d-vision
- pose-estimation
- registration
- flow-model
---

# Register Any Point: Scaling 3D Point Cloud Registration by Flow Matching

[![Project Page](https://img.shields.io/badge/Project_Page-RAP-red)](https://register-any-point.github.io/) 
[![arXiv](https://img.shields.io/badge/arXiv-2512.01850-blue?logo=arxiv&color=%23B31B1B)](https://arxiv.org/pdf/2512.01850) 
[![GitHub](https://img.shields.io/badge/GitHub-RAP-black?logo=github)](https://github.com/PRBonn/RAP)
[![Demo](https://img.shields.io/badge/Gradio-RAP-red?logo=gradio)](https://d3a6bcfe31f49ec589.gradio.live/)


**Register Any Point (RAP)** is a single-stage multi-view point cloud registration model based on conditional flow matching generation in the Euclidean space. RAP model generalises to point clouds with diverse scales, sensors, view counts, and overlapping ratios. 


For details, please check our [Github repository](https://github.com/PRBonn/RAP)