Transcription of PointDSC: Robust Point Cloud Registration Using Deep ...
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PointDSC: Robust Point Cloud Registration Using Deep Spatial Consistency Xuyang Bai1 Zixin Luo1 Lei Zhou1 Hongkai Chen1 Lei Li1,2 Zeyu Hu1 Hongbo Fu3 Chiew-Lan Tai1. 1 2 3. Hong Kong University of Science and Technology E cole Polytechnique City University of Hong Kong Abstract Removing outlier correspondences is one of the critical steps for successful feature-based Point Cloud Registration . Despite the increasing popularity of introducing deep learn- ing techniques in this eld, spatial consistency, which is essentially established by a Euclidean transformation be- tween Point clouds, has received almost no individual at- tention in existing learning frameworks. In this paper, we present PointDSC, a novel deep neural network that ex- Figure 1: Taking advantage of both the superiority of tradi- plicitly incorporates spatial consistency for pruning out- tional ( SM [36]) and learning methods ( DGR [16]), lier correspondences.
lying 2D or 3D scene geometry and identify inlier cor-respondences through the analysis of spatial consistency. Specifically, in a 2D domain, the spatial consistency only provides a weak relation between points and epipolar lines [13, 9, 73]. Instead, in a 3D domain, the spatial consistency is rigorously defined between every pair of points ...
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