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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



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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