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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