作者
Mingzhi Yuan, Kexue Fu, Zhihao Li, Yucong Meng, Ao Shen, Manning Wang
发表日期
2024/2/8
期刊
IEEE Transactions on Circuits and Systems for Video Technology
出版商
IEEE
简介
Learning-based point cloud registration has achieved great success in recent years but is still limited by its generalization. The performance of these methods declines when they are extended to unseen datasets that have inconsistent distributions with the training set. In this paper, we propose a novel random network-based method, which does not require training. Our approach utilizes multiple randomly initialized networks for feature extraction and correspondence building. Furthermore, we also introduce a co-ensemble strategy to prune the outliers in correspondences built upon random networks, which leverages spatial consistency. Through our co-ensemble pruning, a large proportion of outliers can be removed, thereby achieving robust registration in affordable RANSAC iterations. Extensive experiments on 3DMatch and KITTI demonstrate that our method outperforms not only the traditional methods but also …
学术搜索中的文章
M Yuan, K Fu, Z Li, Y Meng, A Shen, M Wang - IEEE Transactions on Circuits and Systems for Video …, 2024