This repository contains the source code for the paper "Cascading Feature Extraction for Fast Point Cloud Registration, (BMVC2021)" by Yoichiro Hisadome and Yusuke Matsui.
| Method | rotation error (˚) | translation error (cm) | chamfer error | inferrence time (ms) |
|---|---|---|---|---|
| FGR | 31.4 | 20 | 0.012 | 34 |
| DCP-V2 | 12.6 | 17 | 0.011 | 12 |
| RPMNet (Optim) | 1.71 | 1.8 | 0.00085 | 58 |
| RGM | 1.56 | 1.5 | 0.00084 | 174 |
| Proposed | 1.23 | 1.3 | 0.00076 | 17 |
cascading_feature_extraction
|- datasets/
|- modelnet40_ply_hdf5_2048.zip
|- modelnet40_ply_hdf5_2048/
|- src/
...
|- pretrained/
|- modelnet40.pth
Please add --insecure at the end of the installation command, in order of lack of certificate
curl -O https://shapenet.cs.stanford.edu/media/modelnet40_ply_hdf5_2048.zip
pip install -r requirements.txt
We confirmed that the code runs at Python>=3.7.
cd src
python train.py
cd src
python eval.py --resume ../pretrained/modelnet40.pth
@inproceedings{hisadome2021,
title = {Cascading Feature Extraction for Fast Point Cloud Registration},
author = {Hisadome, Yoichiro and Matsui, Yusuke},
booktitle = {Proceedings of the British Machine Vision Conference},
year={2021}
}
Our code is mainly based on RPMNet. We appreciate them for making the code available.