DeepCLR: Correspondence-Less Architecture for Deep End-to-End Point Cloud Registration

  title={DeepCLR: Correspondence-Less Architecture for Deep End-to-End Point Cloud Registration},
  author={Markus Horn and Nico Engel and Vasileios Belagiannis and Michael Buchholz and Klaus C. J. Dietmayer},
  journal={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
  • Markus HornNico Engel K. Dietmayer
  • Published 22 July 2020
  • Computer Science, Environmental Science
  • 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds originate, for example, from consecutive measurements of a LiDAR mounted on a moving platform. The main difficulty in deep registration of raw point clouds is the fusion of template and source point cloud. Our proposed architecture applies flow embedding to tackle… 

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