/awesome-deeplearning-3d-registration

awesome-deeplearning-3d-registration

A curated list of papers about point cloud registration inspired by awesome-point-cloud-registration

You will be very welcome to make Pull Request to current repository or this (Recommanded) if you find the awesome paper/code/dataset.

Global Registration

Models Date Publication Paper Code
3DMatch 2017 CVPR 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions C/C++/MATLAB
3DFeat-Net 2018 ECCV 3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration Python/C/MATLAB
DCP 2019 ICCV Deep closest point: Learning representations for point cloud registration Python
Choy et al. 2019 ICCV Fully Convolutional Geometric Features Python
PointNetLK 2019 CVPR PointNetLK: Robust & Efficient Point Cloud Registration using PointNet Python
Deng et al. 2019 CVPR 3D Local Features for Direct Pairwise Registration None
Lan et al. 2019 CVPR Robust Point Cloud Based Reconstruction of Large-Scale Outdoor Scenes Python/C++
Federico et al. 2020 IROS Segmentation-Based 4D Registration of Plants Point Clouds for Phenotyping None
VCR-Net 2020 IROS End-to-End 3D Point Cloud Learning for Registration Task UsingVirtual Correspondences Pytorch
D3Feat 2020 CVPR D3feat: Joint learning of dense detection and description of 3d local features Python/C++
GraphTER 2020 CVPR GraphTER: Unsupervised Learning of Graph Transformation Equivariant Representations via Auto-Encoding Node-wise Transformations Python
Gojcic et al. 2020 CVPR Learning multiview 3D point cloud registration Python
RPM-Net 2020 CVPR RPM-Net: Robust Point Matching using Learned Features Python
3DRegNet 2020 CVPR 3DRegNet: A Deep Neural Network for 3D Point Registration Python
D3Feat 2020 CVPR D3Feat: Joint Learning of Dense Detection and Description of 3D Local Features Python/C++
Deep Global Registration 2020 CVPR Deep Global Registration Python
PRNet 2020 NIPS PRNet: Self-Supervised Learning for Partial-to-Partial Registration Python
IDAM 2020 ECCV Iterative Distance-Aware Similarity Matrix Convolution with Mutual-Supervised Point Elimination for Efficient Point Cloud Registration Python
GraphTER 2020 arXiv GraphTER: Unsupervised Learning of Graph Transformation Equivariant Representations via Auto-Encoding Node-wise Transformations Python
CMU 2020 3DV Correspondence Matrices are Underrated Pytorch
SpinNet 2021 CVPR SpinNet: Learning a General Surface Descriptor for 3D Point Cloud Registration Pytorch
PointDSC 2021 CVPR PointDSC: Robust Point Cloud Registration using Deep Spatial Consistency python
PHASER 2021 CVPR PHASER: a Robust and Correspondence-free Global Pointcloud Registration python
RGM 2021 CVPR Robust Point Cloud Registration Framework Based on Deep Graph Matching python
PREDATOR 2021 CVPR PREDATOR: Registration of 3D Point Clouds with Low Overlap python
PointNetLK Revisited 2021 CVPR PointNetLK Revisited python
robot 2021 NIPS Accurate Point Cloud Registration with Robust Optimal Transport python
GeDi 2022 PAMI Generalisable and distinctive 3D local deep descriptors for point cloud registration python
SC2-PCR 2022 CVPR SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration python

Odometry in Autonomous Vehicle

Models Date Publication Paper Code
Gil Elba et al. 2017 CVPR 3D Point Cloud Registration for Localization Using a Deep Neural Network Auto-Encoder python
Velas et al. 2018 ICARSC CNN for IMU Assisted Odometry Estimation using Velodyne LiDAR None
LocNet 2018 IV Locnet: Global localization in 3d point clouds for mobile vehicles caffe
Barsan et al. 2018 CoRL Learning to localize using a lidar intensity map None
Valente et al. 2019 IROS Deep sensor fusion for real-time odometry estimation None
DeepPCO 2019 IROS DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network None
LO-Net 2019 CVPR LO-Net: Deep Real-time Lidar Odometry None
L3-Net 2019 CVPR L3-Net: Towards Learning Based LiDAR Localization for Autonomous Driving None
DeepLO 2019 arXiv DeepLO: Geometry-Aware Deep LiDAR Odometry None
DeepICP 2019 ICCV DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration None
CAE-LO 2020 arXiv CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description Python/MATLAB
SelfVoxeLO 2020 arXiv SelfVoxeLO: Self-supervised LiDAR Odometry with Voxel-based Deep Neural Networks None
PointLoc 2020 arXiv PointLoc: Deep Pose Regressor for LiDAR Point Cloud Localization None
Li et al. 2020 arXiv DMLO: Deep Matching LiDAR Odometry None
DeLORA 2021 ICRA Self-supervised Learning of LiDAR Odometry for Robotic Applications code
PWCLO-Net 2022 CVPR PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization code
RSLO 2022 R-AL Robust Self-supervised LiDAR Odometry via Representative Structure Discovery and 3D Inherent Error Modeling code