# 3D Focusing-and-Matching Network for Multi-Instance Point Cloud Registration

arXiv: https://arxiv.org/abs/2411.07740 · HTML: https://mlsanity.com/paper/2411.07740/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 49 references that are in the map.
- First posted on arXiv 12 Nov 2024.

## Builds on (most cited first, 6 of 6)

- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [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)
- [Finding Geometric Models by Clustering in the Consensus Space](https://mlsanity.com/paper/2103.13875/) (2021)
- [Instance by Instance: An Iterative Framework for Multi-instance 3D Registration](https://mlsanity.com/paper/2402.04195/) (2024)

## Built on by (most cited first, 1 of 1)

- [3D Registration in 30 Years: A Survey](https://mlsanity.com/paper/2412.13735/) (2024)

## Abstract (arXiv)

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain the pose of each instance. However, due to the cluttered and occluded objects in the scene, it is difficult to obtain an accurate correspondence between the model point cloud and all instances in the scene. To this end, we propose a simple yet powerful 3D focusing-and-matching network for multi-instance point cloud registration by learning the multiple pair-wise point cloud registration. Specifically, we first present a 3D multi-object focusing module to locate the center of each object and generate object proposals. By using self-attention and cross-attention to associate the model point cloud with structurally similar objects, we can locate potential matching instances by regressing object centers. Then, we propose a 3D dual masking instance matching module to estimate the pose between the model point cloud and each object proposal. It performs instance mask and overlap mask masks to accurately predict the pair-wise correspondence. Extensive experiments on two public benchmarks, Scan2CAD and ROBI, show that our method achieves a new state-of-the-art performance on the multi-instance point cloud registration task. Code is available at https://github.com/zlynpu/3DFMNet.