# 3D Point Cloud Registration with Learning-based Matching Algorithm

arXiv: https://arxiv.org/abs/2202.02149 · HTML: https://mlsanity.com/paper/2202.02149/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 51 references that are in the map.
- First posted on arXiv 4 Feb 2022.

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

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Sinkhorn Distances: Lightspeed Computation of Optimal Transportation Distances](https://mlsanity.com/paper/1306.0895/) (2013)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [Deep Sets](https://mlsanity.com/paper/1703.06114/) (2017)
- [Deeper Insights into Graph Convolutional Networks for Semi-Supervised Learning](https://mlsanity.com/paper/1801.07606/) (2018)
- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [Deep Learning for 3D Point Clouds: A Survey](https://mlsanity.com/paper/1912.12033/) (2019)
- [Learning from Synthetic Humans](https://mlsanity.com/paper/1701.01370/) (2017)
- [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)
- [SpiderCNN: Deep Learning on Point Sets with Parameterized Convolutional Filters](https://mlsanity.com/paper/1803.11527/) (2018)
- [PointNetLK: Robust & Efficient Point Cloud Registration using PointNet](https://mlsanity.com/paper/1903.05711/) (2019)
- [SalsaNext: Fast, Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving](https://mlsanity.com/paper/2003.03653/) (2020)
- [RPM-Net: Robust Point Matching using Learned Features](https://mlsanity.com/paper/2003.13479/) (2020)
- [Neighbourhood Consensus Networks](https://mlsanity.com/paper/1810.10510/) (2018)
- [Deep Parametric Continuous Convolutional Neural Networks](https://mlsanity.com/paper/2101.06742/) (2021)
- [3D-CODED : 3D Correspondences by Deep Deformation](https://mlsanity.com/paper/1806.05228/) (2018)
- [CoFiNet: Reliable Coarse-to-fine Correspondences for Robust Point Cloud Registration](https://mlsanity.com/paper/2110.14076/) (2021)
- [Deep Geometric Functional Maps: Robust Feature Learning for Shape Correspondence](https://mlsanity.com/paper/2003.14286/) (2020)
- [ShellNet: Efficient Point Cloud Convolutional Neural Networks using Concentric Shells Statistics](https://mlsanity.com/paper/1908.06295/) (2019)
- [Lepard: Learning partial point cloud matching in rigid and deformable scenes](https://mlsanity.com/paper/2111.12591/) (2021)
- [PCRNet: Point Cloud Registration Network using PointNet Encoding](https://mlsanity.com/paper/1908.07906/) (2019)
- [CorrNet3D: Unsupervised End-to-end Learning of Dense Correspondence for 3D Point Clouds](https://mlsanity.com/paper/2012.15638/) (2020)
- [Human Motion Transfer with 3D Constraints and Detail Enhancement](https://mlsanity.com/paper/2003.13510/) (2020)
- [3D Point Cloud Descriptors in Hand-crafted and Deep Learning Age: State-of-the-Art](https://mlsanity.com/paper/1802.02297/) (2018)

## Abstract (arXiv)

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained feature extractor. We focused on edge-wise feature-forwarding architectures, which are memory-consuming but can avoid the over-smoothing effect that GNNs suffer. We improve its memory efficiency to scale it for point cloud registration while investigating the best way of connecting it to the feature extractor. Experimental results show our matching module's significant impact on performance improvement in rigid/non-rigid and whole/partial point cloud registration datasets with multiple contemporary feature extractors. For example, our module boosted the current SOTA method, RoITr, by +5.4%, and +7.2% in the NFMR metric and +6.1% and +8.5% in the IR metric on the 4DMatch and 4DLoMatch datasets, respectively.