# Cross-Modal Information-Guided Network using Contrastive Learning for Point Cloud Registration

arXiv: https://arxiv.org/abs/2311.01202 · HTML: https://mlsanity.com/paper/2311.01202/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 34 references that are in the map.
- First posted on arXiv 2 Nov 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)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [Deep Closest Point: Learning Representations for Point Cloud Registration](https://mlsanity.com/paper/1905.03304/) (2019)
- [PointNetLK: Robust & Efficient Point Cloud Registration using PointNet](https://mlsanity.com/paper/1903.05711/) (2019)
- [CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding](https://mlsanity.com/paper/2203.00680/) (2022)
- [Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration](https://mlsanity.com/paper/1605.03344/) (2016)
- [PRNet: Self-Supervised Learning for Partial-to-Partial Registration](https://mlsanity.com/paper/1910.12240/) (2019)
- [A comprehensive survey on point cloud registration](https://mlsanity.com/paper/2103.02690/) (2021)
- [PCRNet: Point Cloud Registration Network using PointNet Encoding](https://mlsanity.com/paper/1908.07906/) (2019)
- [OMNet: Learning Overlapping Mask for Partial-to-Partial Point Cloud Registration](https://mlsanity.com/paper/2103.00937/) (2021)
- [Let Images Give You More:Point Cloud Cross-Modal Training for Shape Analysis](https://mlsanity.com/paper/2210.04208/) (2022)
- [DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds](https://mlsanity.com/paper/1811.11397/) (2018)
- [FINet: Dual Branches Feature Interaction for Partial-to-Partial Point Cloud Registration](https://mlsanity.com/paper/2106.03479/) (2021)
- [IMFNet: Interpretable Multimodal Fusion for Point Cloud Registration](https://mlsanity.com/paper/2111.09624/) (2021)
- [MaskNet: A Fully-Convolutional Network to Estimate Inlier Points](https://mlsanity.com/paper/2010.09185/) (2020)
- [VRNet: Learning the Rectified Virtual Corresponding Points for 3D Point Cloud Registration](https://mlsanity.com/paper/2203.13241/) (2022)

## Built on by (most cited first, 4 of 4)

- [CMHANet: A Cross-Modal Hybrid Attention Network for Point Cloud Registration](https://mlsanity.com/paper/2603.12721/) (2026)
- [IGASA: Integrated Geometry-Aware and Skip-Attention Modules for Enhanced Point Cloud Registration](https://mlsanity.com/paper/2603.12719/) (2026)
- [GaussianPU: A Hybrid 2D-3D Upsampling Framework for Enhancing Color Point Clouds via 3D Gaussian Splatting](https://mlsanity.com/paper/2409.01581/) (2024)
- [Fine-Grained Instruction-Guided Graph Reasoning for Vision-and-Language Navigation](https://mlsanity.com/paper/2503.11006/) (2025)

## Abstract (arXiv)

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in deficiencies such as inadequate perception of global features and a lack of texture information. Actually, humans can employ visual information learned from 2D images to comprehend the 3D world. Based on this fact, we present a novel Cross-Modal Information-Guided Network (CMIGNet), which obtains global shape perception through cross-modal information to achieve precise and robust point cloud registration. Specifically, we first incorporate the projected images from the point clouds and fuse the cross-modal features using the attention mechanism. Furthermore, we employ two contrastive learning strategies, namely overlapping contrastive learning and cross-modal contrastive learning. The former focuses on features in overlapping regions, while the latter emphasizes the correspondences between 2D and 3D features. Finally, we propose a mask prediction module to identify keypoints in the point clouds. Extensive experiments on several benchmark datasets demonstrate that our network achieves superior registration performance.