# Global Point Cloud Registration Network for Large Transformations

arXiv: https://arxiv.org/abs/2403.18040 · HTML: https://mlsanity.com/paper/2403.18040/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 29 of its 64 references that are in the map.
- First posted on arXiv 26 Mar 2024.

## Builds on (most cited first, 29 of 29)

- [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)
- [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)
- [Deep Global Registration](https://mlsanity.com/paper/2004.11540/) (2020)
- [RPM-Net: Robust Point Matching using Learned Features](https://mlsanity.com/paper/2003.13479/) (2020)
- [PPFNet: Global Context Aware Local Features for Robust 3D Point Matching](https://mlsanity.com/paper/1802.02669/) (2018)
- [CoFiNet: Reliable Coarse-to-fine Correspondences for Robust Point Cloud Registration](https://mlsanity.com/paper/2110.14076/) (2021)
- [PRNet: Self-Supervised Learning for Partial-to-Partial Registration](https://mlsanity.com/paper/1910.12240/) (2019)
- [SpinNet: Learning a General Surface Descriptor for 3D Point Cloud Registration](https://mlsanity.com/paper/2011.12149/) (2020)
- [PointDSC: Robust Point Cloud Registration using Deep Spatial Consistency](https://mlsanity.com/paper/2103.05465/) (2021)
- [PPF-FoldNet: Unsupervised Learning of Rotation Invariant 3D Local Descriptors](https://mlsanity.com/paper/1808.10322/) (2018)
- [Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds](https://mlsanity.com/paper/2203.11139/) (2022)
- [Robust Point Cloud Registration Framework Based on Deep Graph Matching](https://mlsanity.com/paper/2103.04256/) (2021)
- [3DRegNet: A Deep Neural Network for 3D Point Registration](https://mlsanity.com/paper/1904.01701/) (2019)
- [REGTR: End-to-end Point Cloud Correspondences with Transformers](https://mlsanity.com/paper/2203.14517/) (2022)
- [DeepGMR: Learning Latent Gaussian Mixture Models for Registration](https://mlsanity.com/paper/2008.09088/) (2020)
- [GeoTransformer: Fast and Robust Point Cloud Registration with Geometric Transformer](https://mlsanity.com/paper/2308.03768/) (2023)
- [FPConv: Learning Local Flattening for Point Convolution](https://mlsanity.com/paper/2002.10701/) (2020)
- [OMNet: Learning Overlapping Mask for Partial-to-Partial Point Cloud Registration](https://mlsanity.com/paper/2103.00937/) (2021)
- [HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration](https://mlsanity.com/paper/2107.11992/) (2021)
- [Generalized Differentiable RANSAC](https://mlsanity.com/paper/2212.13185/) (2022)
- [PCAM: Product of Cross-Attention Matrices for Rigid Registration of Point Clouds](https://mlsanity.com/paper/2110.01269/) (2021)
- [Deep Weighted Consensus: Dense correspondence confidence maps for 3D shape registration](https://mlsanity.com/paper/2105.02714/) (2021)
- [When Deep Learning Meets Data Alignment: A Review on Deep Registration Networks (DRNs)](https://mlsanity.com/paper/2003.03167/) (2020)
- [3D non-rigid registration using color: Color Coherent Point Drift](https://mlsanity.com/paper/1802.01516/) (2018)
- [DUGMA: Dynamic Uncertainty-Based Gaussian Mixture Alignment](https://mlsanity.com/paper/1803.07426/) (2018)
- [μ-MAR: Multiplane 3D Marker based Registration for Depth-sensing Cameras](https://mlsanity.com/paper/1708.01405/) (2017)
- [Two Heads are Better than One: Geometric-Latent Attention for Point Cloud Classification and Segmentation](https://mlsanity.com/paper/2111.00231/) (2021)

## Abstract (arXiv)

Three-dimensional data registration is an established yet challenging problem that is key in many different applications, such as mapping the environment for autonomous vehicles, and modeling objects and people for avatar creation, among many others. Registration refers to the process of mapping multiple data into the same coordinate system by means of matching correspondences and transformation estimation. Novel proposals exploit the benefits of deep learning architectures for this purpose, as they learn the best features for the data, providing better matches and hence results. However, the state of the art is usually focused on cases of relatively small transformations, although in certain applications and in a real and practical environment, large transformations are very common. In this paper, we present ReLaTo (Registration for Large Transformations), an architecture that faces the cases where large transformations happen while maintaining good performance for local transformations. This proposal uses a novel Softmax pooling layer to find correspondences in a bilateral consensus manner between two point sets, sampling the most confident matches. These matches are used to estimate a coarse and global registration using weighted Singular Value Decomposition (SVD). A target-guided denoising step is then applied to both the obtained matches and latent features, estimating the final fine registration considering the local geometry. All these steps are carried out following an end-to-end approach, which has been shown to improve 10 state-of-the-art registration methods in two datasets commonly used for this task (ModelNet40 and KITTI), especially in the case of large transformations.