TY - GEN
T1 - 3D Point Cloud Registration with Multi-Scale Architecture and Unsupervised Transfer Learning
AU - Horache, Sofiane
AU - Deschaud, Jean Emmanuel
AU - Goulette, Francois
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/1/1
Y1 - 2021/1/1
N2 - We propose a method for generalizing deep learning for 3D point cloud registration on new,totally different datasets. It is based on two components,MS-SVConv and UDGE. Using Multi-Scale Sparse Voxel Convolution,MSSVConv is a fast deep neural network that outputs the descriptors from point clouds for 3D registration between two scenes. UDGE is an algorithm for transferring deep networks on unknown datasets in a unsupervised way. The interest of the proposed method appears while using the two components,MS-SVConv and UDGE,together as a whole,which leads to state-of-the-art results on real world registration datasets such as 3DMatch,ETH and TUM. The code is publicly available at https://github.com/humanpose1/MS-SVConv.
AB - We propose a method for generalizing deep learning for 3D point cloud registration on new,totally different datasets. It is based on two components,MS-SVConv and UDGE. Using Multi-Scale Sparse Voxel Convolution,MSSVConv is a fast deep neural network that outputs the descriptors from point clouds for 3D registration between two scenes. UDGE is an algorithm for transferring deep networks on unknown datasets in a unsupervised way. The interest of the proposed method appears while using the two components,MS-SVConv and UDGE,together as a whole,which leads to state-of-the-art results on real world registration datasets such as 3DMatch,ETH and TUM. The code is publicly available at https://github.com/humanpose1/MS-SVConv.
KW - 3D Point Cloud
KW - Deep Learning
KW - Registration
U2 - 10.1109/3DV53792.2021.00142
DO - 10.1109/3DV53792.2021.00142
M3 - Conference contribution
AN - SCOPUS:85125010617
T3 - Proceedings - 2021 International Conference on 3D Vision, 3DV 2021
SP - 1351
EP - 1361
BT - Proceedings - 2021 International Conference on 3D Vision, 3DV 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on 3D Vision, 3DV 2021
Y2 - 1 December 2021 through 3 December 2021
ER -