CASIA OpenIR  > 多模态人工智能系统全国重点实验室  > 机器人视觉
Cross-attention-based Feature Extraction Network for 3D Point Cloud Registration
Shiyi Guo; Yujie Fu; Zhengda Qian; Zheng Rong; Yihong Wu
2022
Conference Name2022 IEEE International Conference on Multimedia and Expo
Conference DateJuly 18-22,2022
Conference PlaceTaiPei Taiwan
Abstract

In recent years, the feature-based point cloud registration
methods have attracted more attention. However, most existing
methods focus on extracting features with strong antiinterference
ability from a single point cloud while neglecting
the differences within point cloud pairs. In this paper, unlike
these methods treating each point cloud independently, we
instead consider the information between point cloud pairs
when extracting features. Specifically, we propose a crossattention-
based network for modeling the correlation between
a pair of point clouds, where a 3D cross-attention mechanism
is proposed and combined with 3D convolution elegantly for
feature extraction. The extracted features achieve better robustness
under various conditions, such as rotation and translation
changes. Then accurate point cloud registration is
achieved by matching these features. Experimental results
on 3DMatch dataset show that the proposed method achieves
state-of-the-art performance on feature matching and point
cloud registration tasks compared with the previous featurebased
methods.

Sub direction classification三维视觉
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/47454
Collection多模态人工智能系统全国重点实验室_机器人视觉
Corresponding AuthorShiyi Guo; Yihong Wu
AffiliationNational Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, China
First Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Shiyi Guo,Yujie Fu,Zhengda Qian,et al. Cross-attention-based Feature Extraction Network for 3D Point Cloud Registration[C],2022.
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