An Accurate Outlier Rejection Network With Higher Generalization Ability for Point Cloud Registration
文献类型：期刊论文
| 作者 | Guo, Shiyi1,3 ; Tang, Fulin3; Liu, Bingxi2; Fu, Yujie1,3; Wu, Yihong1,3
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2023-08-01 |
| 卷号 | 8期号:8页码:4649-4656 |
| 关键词 | Point cloud compression Three-dimensional displays Feature extraction Correlation Learning systems Task analysis Robustness Point cloud registration outlier rejection 3D feature |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2023.3286168 |
| 通讯作者 | Wu, Yihong(yhwu@nlpr.ia.ac.cn) |
| 英文摘要 | 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. |
| 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] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001021244900003 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53639]  |
| 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.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Peng Cheng Lab, Shenzhen 518066, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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