GeoTransformer: Fast and Robust Point Cloud Registration with Geometric Transformer
We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in low-overlap scenarios. They seek correspondences over downsampled superpoints, which are then propagated to dense points. Superpoints are matched based on whether their neighboring patches overlap. Such sparse and loose matching requires contextual features capturing the geometric structure of the point clouds. We propose Geometric Transformer, or GeoTransformer for short, to learn geometric feature for robust superpoint matching. It encodes pair-wise distances and triplet-wise angles, making it invariant to rigid transformation and robust in low-overlap cases. The simplistic design attains surprisingly high matching accuracy such that no RANSAC is required in the estimation of alignment transformation, leading to $100$ times acceleration. Extensive experiments on rich benchmarks encompassing indoor, outdoor, synthetic, multiway and non-rigid demonstrate the efficacy of GeoTransformer. Notably, our method improves the inlier ratio by $18{\sim}31$ percentage points and the registration recall by over $7$ points on the challenging 3DLoMatch benchmark. Our code and models are available at \url{https://github.com/qinzheng93/GeoTransformer}.
PDF AbstractCode
KITTI
ModelNet
3DMatch
DeformingThings4D
4DMatch
FAUST-partial
| Task | Dataset | Model | Metric Name | Metric Value | Global Rank | Benchmark |
|---|---|---|---|---|---|---|
| Point Cloud Registration | ETH (trained on 3DMatch) | GeoTransformer | Recall (30cm, 5 degrees) | 4.91 | # 12 | |
| Point Cloud Registration | FP-O-E | GeoTransformer | Recall (3cm, 10 degrees) | 63.94 | # 5 | |
| RRE (degrees) | 2.30 | # 5 | ||||
| RTE (cm) | 1.57 | # 5 | ||||
| Point Cloud Registration | FP-O-H | GeoTransformer | Recall (3cm, 10 degrees) | 2.64 | # 5 | |
| RRE (degrees) | 2.57 | # 4 | ||||
| RTE (cm) | 2.22 | # 5 | ||||
| Point Cloud Registration | FP-O-M | GeoTransformer | Recall (3cm, 10 degrees) | 22.07 | # 5 | |
| RRE (degrees) | 2.45 | # 5 | ||||
| RTE (cm) | 1.94 | # 5 | ||||
| Point Cloud Registration | FP-R-E | GeoTransformer | Recall (3cm, 10 degrees) | 64.12 | # 5 | |
| RRE (degrees) | 2.29 | # 5 | ||||
| RTE (cm) | 1.57 | # 5 | ||||
| Point Cloud Registration | FP-R-H | GeoTransformer | Recall (3cm, 10 degrees) | 47.75 | # 5 | |
| RRE (degrees) | 0.47 | # 2 | ||||
| RTE (cm) | 1.69 | # 5 | ||||
| Point Cloud Registration | FP-R-M | GeoTransformer | Recall (3cm, 10 degrees) | 55.93 | # 5 | |
| RRE (degrees) | 2.26 | # 6 | ||||
| RTE (cm) | 1.63 | # 5 | ||||
| Point Cloud Registration | FP-T-E | GeoTransformer | Recall (3cm, 10 degrees) | 66.25 | # 5 | |
| RRE (degrees) | 2.32 | # 5 | ||||
| RTE (cm) | 1.59 | # 5 | ||||
| Point Cloud Registration | FP-T-H | GeoTransformer | Recall (3cm, 10 degrees) | 64.18 | # 5 | |
| RRE (degrees) | 2.27 | # 5 | ||||
| RTE (cm) | 1.57 | # 5 | ||||
| Point Cloud Registration | FP-T-M | GeoTransformer | Recall (3cm, 10 degrees) | 64.29 | # 5 | |
| RRE (degrees) | 2.29 | # 5 | ||||
| RTE (cm) | 1.58 | # 5 | ||||
| Point Cloud Registration | KITTI (trained on 3DMatch) | GeoTransformer | Success Rate | 67.93 | # 11 |
