Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning
Ray Zhang*, Zheming Zhou, Min Sun, Omid Ghasemalizadeh, Cheng-Hao Kuo, Ryan M. Eustice, Maani Ghaffari Jadidi, Arnie Sen
Abstract
"This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions in a reproducing kernel Hilbert space (RKHS), leveraging SE(3)-equivariant features for direct feature space registration. A novel RKHS distance metric is proposed, offering reliable performance amidst noise, outliers, and asymmetrical data. An unsupervised training approach is introduced to effectively handle limited ground truth data, facilitating adaptation to real datasets. The proposed method outperforms classical and supervised methods in terms of registration accuracy on both synthetic (ModelNet40) and real-world (ETH3D) noisy, outlier-rich datasets. To our best knowledge, this marks the first instance of successful real RGB-D odometry data registration using an equivariant method. The code is available at https://sites.google. com/view/eccv24-equivalign."
BibTeX
@inproceedings{eccv2024_correspondencefr,
title = {Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning},
author = {Ray Zhang* and Zheming Zhou and Min Sun and Omid Ghasemalizadeh and Cheng-Hao Kuo and Ryan M. Eustice and Maani Ghaffari Jadidi and Arnie Sen},
booktitle = {ECCV 2024},
year = {2024}
}