PointCNT: A One-Stage Point Cloud Registration Approach Based on Complex Network Theory

Abstract

Inspired by the parallel visual pathway model of the human neural system, we propose an efficient and high-precision point cloud registration method based on complex network theory (PointCNT). A deep learning network (DNN) design method based on complex network theory is proposed, and a multipath feature extraction network, namely, Complex Kernel Point Convolution Neural Network (ComKP-CNN) for point clouds is designed based on the design method. Self-supervision is introduced to improve the feature extraction ability of the model. A feature embedding module is proposed to explicitly embed the transformation-variant coordinate information and transformation-invariant distance information into features. A feature fusion module is proposed to enable the source and template point clouds to perceive each other’s nonlocal features. Finally, a Multilayer Perceptron (MLP) with prominent fitting characteristics is utilized to estimate the transformation matrix. The experimental results show that the Registration Recall (RR) of PointCNT on ModelNet40 dataset reached 96.4%, significantly surpassing one-stage methods such as Feature-Metric Registration (FMR) and approaching two-stage methods such as Geometric Transformer (GeoTransformer). The computation speed is faster than two-stage methods, and the registration run time is 0.15 s. In addition, ComKP-CNN is universal and can improve the registration accuracy of other point cloud registration methods.

Keywords

• point cloud registration
• deep learning
• complex network theory
• nonlocal features