Knowledge Commons of Institute of Automation,CAS
An Accurate Outlier Rejection Network With Higher Generalization Ability for Point Cloud Registration | |
Guo, Shiyi1,2; Tang, Fulin1; Liu, Bingxi3; Fu, Yujie1,2; Wu, Yihong1,2 | |
发表期刊 | IEEE ROBOTICS AND AUTOMATION LETTERS |
ISSN | 2377-3766 |
2023-08-01 | |
卷号 | 8期号:8页码:4649-4656 |
摘要 | Feature-based point cloud registration algorithms have gained more attention recently for their high robustness. Outlier rejection is a key step of such algorithms. With the development of deep learning, some of the learning-based outlier rejection methods have been proposed and implemented in various scenes. However, generalization ability and accuracy of the existing methods in complex scenes still need to be improved. In this letter, we construct a neural network for removing outlier correspondences. Particularly, we propose a novel seed selection method based on feature consistency (FC) and a new loss function based on second order feature consistency (FC$<^>{2}$). Experimental results on various datasets show the proposed network achieves better accuracy and stronger generalization ability than the state-of-the-art learning-based algorithms. |
关键词 | Point cloud registration Three-dimensional displays Feature extraction Correlation Learning systems Task analysis Robustness 3D feature outlier rejection |
DOI | 10.1109/LRA.2023.3286168 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[62202468] ; National Natural Science Foundation of China[61836015] ; National Natural Science Foundation of China[62002359] |
项目资助者 | National Natural Science Foundation of China |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:001021244900003 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 三维视觉 |
国重实验室规划方向分类 | 视觉信息处理 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/53640 |
专题 | 多模态人工智能系统全国重点实验室 |
通讯作者 | Wu, Yihong |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peng Cheng Lab, Shenzhen 518066, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Guo, Shiyi,Tang, Fulin,Liu, Bingxi,et al. An Accurate Outlier Rejection Network With Higher Generalization Ability for Point Cloud Registration[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2023,8(8):4649-4656. |
APA | Guo, Shiyi,Tang, Fulin,Liu, Bingxi,Fu, Yujie,&Wu, Yihong.(2023).An Accurate Outlier Rejection Network With Higher Generalization Ability for Point Cloud Registration.IEEE ROBOTICS AND AUTOMATION LETTERS,8(8),4649-4656. |
MLA | Guo, Shiyi,et al."An Accurate Outlier Rejection Network With Higher Generalization Ability for Point Cloud Registration".IEEE ROBOTICS AND AUTOMATION LETTERS 8.8(2023):4649-4656. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
An_Accurate_Outlier_(1675KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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