Graphite: Graph-Induced Feature Extraction for Point Cloud Registration
Saleh M, Dehghani S, Busam B, Navab N, Tombari F (2020)
Publication Type: Conference contribution
Publication year: 2020
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 241-251
Conference Proceedings Title: Proceedings - 2020 International Conference on 3D Vision, 3DV 2020
Event location: Virtual, Fukuoka, JPN
ISBN: 9781728181288
DOI: 10.1109/3DV50981.2020.00034
Abstract
3D Point clouds are a rich source of information that enjoy growing popularity in the vision community. However, due to the sparsity of their representation, learning models based on large point clouds is still a challenge. In this work, we introduce Graphite, a GRAPH-Induced feaTure Extraction pipeline, a simple yet powerful feature transform and keypoint detector. Graphite enables intensive down-sampling of point clouds with keypoint detection accompanied by a descriptor. We construct a generic graph-based learning scheme to describe point cloud regions and extract salient points. To this end, we take advantage of 6D pose information and metric learning to learn robust descriptions and keypoints across different scans. We Reformulate the 3D keypoint pipeline with graph neural networks which allow efficient processing of the point set while boosting its descriptive power which ultimately results in more accurate 3D registrations. We demonstrate our lightweight descriptor on common 3D descriptor matching and point cloud registration benchmarks [76], [71] and achieve comparable results with the state of the art. Describing 100 patches of a point cloud and detecting their keypoints takes only 0.018 seconds with our proposed network.
Involved external institutions
Germany (DE)How to cite
APA:
Saleh, M., Dehghani, S., Busam, B., Navab, N., & Tombari, F. (2020). Graphite: Graph-Induced Feature Extraction for Point Cloud Registration. In Proceedings - 2020 International Conference on 3D Vision, 3DV 2020 (pp. 241-251). Virtual, Fukuoka, JPN: Institute of Electrical and Electronics Engineers Inc..
MLA:
Saleh, Mahdi, et al. "Graphite: Graph-Induced Feature Extraction for Point Cloud Registration." Proceedings of the 8th International Conference on 3D Vision, 3DV 2020, Virtual, Fukuoka, JPN Institute of Electrical and Electronics Engineers Inc., 2020. 241-251.
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