An attention based kernel correlation neural network for 3D point cloud registration

Haonan Cheng; Lin Luo; Jinlong Li; Kai Yang

doi:10.1117/12.3005999

24 November 2023 An attention based kernel correlation neural network for 3D point cloud registration

Haonan Cheng, Lin Luo, Jinlong Li, Kai Yang

Proceedings Volume 12935, Fourteenth International Conference on Information Optics and Photonics (CIOP 2023); 129351G (2023) https://doi.org/10.1117/12.3005999
Event: Fourteenth International Conference on Information Optics and Photonics (CIOP 2023), 2023, Xi’an, China

Abstract

In the field of computer vision such as target detection and 3D positioning, point cloud registration has always been one of the key problems, which requires alignment two point clouds through rigid spatial transformation, accuracy, robustness, speed and other factors. Point cloud registration based on deep learning has received a lot of research in recent years. Compared with the conventional methods, They show a great advantage in their registration performance, To improve the performance of deep learning on point-cloud registration, This paper uses Kernel correlation to compute and store the neighborhood information of point clouds, While extracting local geometric features by convolutional neural network and Offset_Attention module aggregation, Then use Singular value decomposition SVD to predict the final rigid transformation matrix, and finally achieve high-quality registration. In this paper, by training our model on the ModelNet40 dataset, And the source and target point cloud are sampled independently, And also extract the non-axisymmetric targets for additional tests, Achievalized a more equitable registration network experiment, the Root-mean-square deviation (RMSE) is 12.58% higher than before, which verifies the effectiveness of our network.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Haonan Cheng, Lin Luo, Jinlong Li, and Kai Yang "An attention based kernel correlation neural network for 3D point cloud registration", Proc. SPIE 12935, Fourteenth International Conference on Information Optics and Photonics (CIOP 2023), 129351G (24 November 2023); https://doi.org/10.1117/12.3005999

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KEYWORDS

Point clouds

Feature extraction

Computer vision technology

Matrices

Deep learning

Data modeling

Education and training

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