Transcription of Deep Closest Point: Learning Representations for Point ...
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Deep Closest Point : Learning Representations for Point Cloud RegistrationYue WangMassachusetts Institute of Technology77 Massachusetts Ave, Cambridge, MA M. SolomonMassachusetts Institute of Technology77 Massachusetts Ave, Cambridge, MA cloud registration is a key problem for computervision applied to robotics, medical imaging, and other ap-plications. This problem involves finding a rigid transfor-mation from one Point cloud into another so that they Closest Point (ICP) and its variants provide sim-ple and easily-implemented iterative methods for this task,but these algorithms can converge to spurious local address local optima and other difficulties in the ICPpipeline, we propose a Learning -based method, titled DeepClosest Point (DCP), inspired by recent techniques in com-puter vision a
deep architectures for geometric data termed geometric deep learning [7] includes recent methods learning on graphs [51, 60, 12] and point clouds [33, 34, 50, 57]. The graph neural network (GNN) is introduced in [39]; similarly, [11] defines convolution on graphs (GCN) for molecular data. [24] uses renormalization to adapt to the
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