Learning Instance-Aware Correspondences for Robust Multi-Instance Point Cloud Registration in Cluttered Scenes

arXiv:2404.04557v1 Announce Type: new
Abstract: Multi-instance point cloud registration estimates the poses of multiple instances of a model point cloud in a scene point cloud. Extracting accurate point correspondence is to the center of the problem. Existing approaches usually treat the scene point cloud as a whole, overlooking the separation of instances. Therefore, point features could be easily polluted by other points from the background or different instances, leading to inaccurate correspondences oblivious to separate instances, especially in cluttered scenes. …

arxiv cloud cs.cv instance registration robust type