# RoCNet: 3D Robust Registration of Point-Clouds using Deep Learning

arXiv: https://arxiv.org/abs/2303.07963 · HTML: https://mlsanity.com/paper/2303.07963/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 32 references that are in the map.
- First posted on arXiv 14 Mar 2023.

## Builds on (most cited first, 21 of 21)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [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)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [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)
- [PointNetLK: Robust & Efficient Point Cloud Registration using PointNet](https://mlsanity.com/paper/1903.05711/) (2019)
- [Geometric Transformer for Fast and Robust Point Cloud Registration](https://mlsanity.com/paper/2202.06688/) (2022)
- [D3Feat: Joint Learning of Dense Detection and Description of 3D Local Features](https://mlsanity.com/paper/2003.03164/) (2020)
- [PRNet: Self-Supervised Learning for Partial-to-Partial Registration](https://mlsanity.com/paper/1910.12240/) (2019)
- [3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration](https://mlsanity.com/paper/1807.09413/) (2018)
- [Unsupervised Deep Learning for Structured Shape Matching](https://mlsanity.com/paper/1812.03794/) (2018)
- [3D Point Cloud Processing and Learning for Autonomous Driving](https://mlsanity.com/paper/2003.00601/) (2020)
- [Learning Compact Geometric Features](https://mlsanity.com/paper/1709.05056/) (2017)
- [UnsupervisedR&R: Unsupervised Point Cloud Registration via Differentiable Rendering](https://mlsanity.com/paper/2102.11870/) (2021)
- [R-PointHop: A Green, Accurate, and Unsupervised Point Cloud Registration Method](https://mlsanity.com/paper/2103.08129/) (2021)
- [VRNet: Learning the Rectified Virtual Corresponding Points for 3D Point Cloud Registration](https://mlsanity.com/paper/2203.13241/) (2022)
- [WSDesc: Weakly Supervised 3D Local Descriptor Learning for Point Cloud Registration](https://mlsanity.com/paper/2108.02740/) (2021)

## Built on by (most cited first, 2 of 2)

- [LoGDesc: Local geometric features aggregation for robust point cloud registration](https://mlsanity.com/paper/2410.02420/) (2024)
- [Hierarchical Attention and Graph Neural Networks: Toward Drift-Free Pose Estimation](https://mlsanity.com/paper/2309.09934/) (2023)

## Abstract (arXiv)

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate neighbourhood of each point and an attention mechanism that encodes the variations of the surface normals. Such descriptors are refined by highlighting attention between the points of the same set and then between the points of the two sets. (ii) a matching process that estimates a matrix of correspondences using the Sinkhorn algorithm. (iii) Finally, the rigid transformation between the two point clouds is calculated by RANSAC using the Kc best scores from the correspondence matrix. We conduct experiments on the ModelNet40 dataset, and our proposed architecture shows very promising results, outperforming state-of-the-art methods in most of the simulated configurations, including partial overlap and data augmentation with Gaussian noise.