Better matching of partial 3D point clouds by using uncertainty with UTOPIC
Better matching of partial 3D point clouds by using uncertainty with UTOPIC
UTOPIC: Uncertainty-aware Overlap Prediction Network for Partial Point Cloud Registration
arXiv paper abstract https://arxiv.org/abs/2208.02712v1
arXiv PDF paper https://arxiv.org/pdf/2208.02712v1.pdf
GitHub https://github.com/zhileichen99/utopic
High-confidence overlap prediction and accurate correspondences are critical for cutting-edge models to align paired point clouds in a partial-to-partial manner.
However, there inherently exists uncertainty between the overlapping and non-overlapping regions, which has always been neglected
… propose a novel uncertainty-aware overlap prediction network, dubbed UTOPIC, to tackle the ambiguous overlap prediction problem
… induce the feature extractor to implicitly perceive the shape knowledge through a completion decoder, and present a geometric relation embedding for Transformer to obtain transformation-invariant geometry-aware feature representations.
… UTOPIC can achieve stable and accurate registration results, even for the inputs with limited overlapping areas.
… demonstrate the superiority of … approach over state-of-the-art methods …
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