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Low-overlap point cloud registration algorithm based on coupled iteration

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Abstract

We present BC-PCNet, a Point Cloud registration model based on Bidirectional Coupled iteration. The proposed model addresses the challenge of registering point clouds with low overlap. We introduce a new supervisory signal called “Mask Region.” This signal is used to supervise the overlapping region of the two point clouds during the coupled iterative process, enhancing the accuracy of registration. We also improve the registration accuracy by increasing the number of coupled iterative steps. Moreover, by randomly downsampling the non-overlapping part of the point cloud, we reduce the amount of input training data and increase the speed of model training and registration. Compared to the latest models, our model performs well for low-overlap point cloud registration. Experiments show that BC-PCNet achieves a 0.6%/4.1% improvement in recall precision on the 3DMatch/3DLoMatch datasets.

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Data Availability

The datasets analyzed during the current study are available in the GitHub repository (https://github.com/littlewater3/BC-PCNet).

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Funding

This work was supported by the National Natural Science Foundation of China under Grant 52005338 and Grant 52105525.

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  1. Shiqing Wu and Jialin Tao have contributed equally to this work.

Authors and Affiliations

  1. College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Shiqing Wu, Jialin Tao, Chenrui Wu & Long Chen

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  1. Shiqing Wu
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  2. Jialin Tao
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  3. Chenrui Wu
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  4. Long Chen
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Contributions

All authors contributed to the article. LC and JT completed the first draft of the article, while SW and CW designed the BC-PCNet model and carried out the experiments. All authors have read and approved the final version of the manuscript.

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Correspondence to Long Chen.

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Wu, S., Tao, J., Wu, C. et al. Low-overlap point cloud registration algorithm based on coupled iteration. Vis Comput 40, 3151–3162 (2024). https://doi.org/10.1007/s00371-023-03016-4

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