# DFC: Deep Feature Consistency for Robust Point Cloud Registration

arXiv: https://arxiv.org/abs/2111.07597 · HTML: https://mlsanity.com/paper/2111.07597/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 56 references that are in the map.
- First posted on arXiv 15 Nov 2021.

## Builds on (most cited first, 28 of 28)

- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [Multi-view Convolutional Neural Networks for 3D Shape Recognition](https://mlsanity.com/paper/1505.00880/) (2015)
- [SiamRPN++: Evolution of Siamese Visual Tracking with Very Deep Networks](https://mlsanity.com/paper/1812.11703/) (2018)
- [OctNet: Learning Deep 3D Representations at High Resolutions](https://mlsanity.com/paper/1611.05009/) (2016)
- [3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions](https://mlsanity.com/paper/1603.08182/) (2016)
- [Deep Closest Point: Learning Representations for Point Cloud Registration](https://mlsanity.com/paper/1905.03304/) (2019)
- [PREDATOR: Registration of 3D Point Clouds with Low Overlap](https://mlsanity.com/paper/2011.13005/) (2020)
- [TEASER: Fast and Certifiable Point Cloud Registration](https://mlsanity.com/paper/2001.07715/) (2020)
- [PointNetLK: Robust & Efficient Point Cloud Registration using PointNet](https://mlsanity.com/paper/1903.05711/) (2019)
- [Deep Global Registration](https://mlsanity.com/paper/2004.11540/) (2020)
- [Deeply supervised salient object detection with short connections](https://mlsanity.com/paper/1611.04849/) (2016)
- [Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration](https://mlsanity.com/paper/1605.03344/) (2016)
- [PointDSC: Robust Point Cloud Registration using Deep Spatial Consistency](https://mlsanity.com/paper/2103.05465/) (2021)
- [Graph-Cut RANSAC](https://mlsanity.com/paper/1706.00984/) (2017)
- [3DRegNet: A Deep Neural Network for 3D Point Registration](https://mlsanity.com/paper/1904.01701/) (2019)
- [SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group](https://mlsanity.com/paper/1612.07386/) (2016)
- [DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration](https://mlsanity.com/paper/1905.04153/) (2019)
- [SDRSAC: Semidefinite-Based Randomized Approach for Robust Point Cloud Registration without Correspondences](https://mlsanity.com/paper/1904.03483/) (2019)
- [A Practical Maximum Clique Algorithm for Matching with Pairwise Constraints](https://mlsanity.com/paper/1902.01534/) (2019)
- [AdaLAM: Revisiting Handcrafted Outlier Detection](https://mlsanity.com/paper/2006.04250/) (2020)
- [End-to-End 3D Point Cloud Learning for Registration Task Using Virtual Correspondences](https://mlsanity.com/paper/2011.14579/) (2020)
- [Least-squares registration of point sets over SE (d) using closed-form projections](https://mlsanity.com/paper/1904.04218/) (2019)

## Abstract (arXiv)

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in applying deep learning-based methods for most 3D computer vision tasks, such as object classification, object segmentation and point cloud registration, the consistency between features is still not attractive in existing learning-based pipelines. In this paper, we present a novel learning-based alignment network for complex alignment scenes, titled deep feature consistency and consisting of three main modules: a multiscale graph feature merging network for converting the geometric correspondence set into high-dimensional features, a correspondence weighting module for constructing multiple candidate inlier subsets, and a Procrustes approach named deep feature matching for giving a closed-form solution to estimate the relative pose. As the most important step of the deep feature matching module, the feature consistency matrix for each inlier subset is constructed to obtain its principal vectors as the inlier likelihoods of the corresponding subset. We comprehensively validate the robustness and effectiveness of our approach on both the 3DMatch dataset and the KITTI odometry dataset. For large indoor scenes, registration results on the 3DMatch dataset demonstrate that our method outperforms both the state-of-the-art traditional and learning-based methods. For KITTI outdoor scenes, our approach remains quite capable of lowering the transformation errors. We also explore its strong generalization capability over cross-datasets.