Lightweight deep learning method for end-to-end point cloud registration

作者：Linjun Jiang, Yue Liu, Zhiyuan Dong, Yinghao Li, Yusong Lin · 发表于：Graphical Models · 年份：2024 · DOI：10.1016/j.gmod.2024.101252 · 被引用次数：2 · 研究领域：3D Shape Modeling and Analysis、Robotics and Sensor-Based Localization、3D Surveying and Cultural Heritage

Point cloud registration, a fundamental task in computer science and artificial intelligence, involves rigidly transforming point clouds from different perspectives into a common coordinate system. Traditional registration methods often lack robustness and fail to achieve the desired level of accuracy. In contrast, deep learning-based registration methods have demonstrated improved accuracy and generalization. However, these methods are hindered by large parameter sizes, complex network architectures, and challenges related to efficiency, robustness, and partial overlaps. In this study, we propose a lightweight deep learning-based registration method that captures features from multiple perspectives to predict overlapping points and mitigate the interference of non-overlapping points. Specifically, our approach utilizes pruning and weight-sharing quantization techniques to reduce model size and simplify the network structure. We evaluate the proposed model on noisy and partially overlapping point clouds from the ModelNet40 dataset, comparing its performance against other existing methods. Experimental results show that the proposed method significantly reduces the model's parameter size without compromising registration accuracy.