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Partial point cloud registration algorithm based on deep learning and non-corresponding point estimation
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DOI：10.1007/s00371-023-03103-6.png)
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Abstract
En 中文
For the limitations of global feature-based deep learning point cloud registration algorithms in partial point cloud registration, this paper proposes a partial point cloud registration algorithm NcPE-PNLK combining global features and correspondence. The NcPE-PNLK algorithm introduces a feature interaction module to complete the information interaction between two point clouds in the feature extraction stage, which can improve the credibility of the feature. Moreover, the algorithm predicts the correspondence through the non-corresponding point estimation module, which reduces the influence of non-overlapping regions on the global feature and effectively solves the problem of performance degradation of the global feature registration algorithms in partial point cloud registration. We test the registration performance of NcPE-PNLK on synthetic scene dataset and real dataset in this paper. The experimental results show that NcPE-PNLK can effectively reduce the impact of non-overlapping regions in the registration process and achieve better performance compared with the global feature-based registration algorithms. In addition, compared with the correspondence-based registration algorithms, the NcPE-PNLK algorithm does not need to calculate correspondence precisely, which can achieve high-precision partial point cloud registration with guaranteed efficiency.
Keywords:
Partial point cloud registration
Deep learning
Global feature
Correspondence
Feature interaction
Non-corresponding point estimation
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