PEAL: Prior-Embedded Explicit Attention Learning for Low-Overlap Point Cloud Registration

1 code implementation • CVPR 2023 • Junle Yu, Luwei Ren, Yu Zhang, Wenhui Zhou, Lili Lin, Guojun Dai

Recently, it has achieved huge success in incorporating Transformer into point cloud feature representation, which usually adopts a self-attention module to learn intra-point-cloud features first, then utilizes a cross-attention module to perform feature exchange between input point clouds.

Point Cloud Registration