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Improve match 3D point clouds using graph matching with RGM

Improve match 3D point clouds using graph matching with RGM


Robust Point Cloud Registration Framework Based on Deep Graph Matching

arXiv paper abstract https://arxiv.org/abs/2211.04696



... learning-based point cloud registration methods ... are sensitive to outliers, which lead to more incorrect correspondences.


... propose a novel deep graph matching-based framework for point cloud registration.


... first transform point clouds into graphs and extract deep features for each point.


... By using graph matching, not only the local geometry of each point but also its structure and topology in a larger range are considered in establishing correspondences, so that more correct correspondences are found.


... train the network with a loss directly defined on the correspondences, and in the test stage the soft correspondences are transformed into hard one-to-one correspondences so that registration can be performed by a correspondence-based solver.


... proposed method achieves state-of-the-art performance ...



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