Align two point clouds by using an intermediate image with ImLoveNet
Align two point clouds by using an intermediate image with ImLoveNet
ImLoveNet: Misaligned Image-supported Registration Network for Low-overlap Point Cloud Pairs
arXiv paper abstract https://arxiv.org/abs/2207.00826v1
arXiv PDF paper https://arxiv.org/pdf/2207.00826v1.pdf
Low-overlap regions between paired point clouds make the captured features very low-confidence, leading cutting edge models to point cloud registration with poor quality.
… exploit an intermediate yet misaligned image between two low-overlap point clouds to enhance the performance of cutting-edge registration models
… ImLoveNet first learns triple deep features across different modalities and then exports these features to a two-stage classifier, for progressively obtaining the high-confidence overlap region between the two point clouds.
… soft correspondences are well established on the predicted overlap region, resulting in accurate rigid transformations for registration.
ImLoveNet is simple to implement yet effective … does not require the extrinsic parameters of the imaging device with respect to the reference frame of the 3D point cloud.
… demonstrate the effectiveness and superiority of … ImLoveNet over state-of-the-art approaches.
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