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Direct Superpoints Matching for Robust Point Cloud Registration
March 29, 2024, 4:45 a.m. | Aniket Gupta, Yiming Xie, Hanumant Singh, Huaizu Jiang
cs.CV updates on arXiv.org arxiv.org
Abstract: Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn algorithm. A RANSAC-like method is then usually adopted as a post-processing refinement to filter the outliers. Other dominant method is to directly predict the superpoint matchings using learned MLP layers. Both of them have drawbacks: RANSAC-based methods are computationally intensive and prediction-based methods suffer from …
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