RPM-Net: Robust Point Matching Using Learned Features
RPM-Net: Robust Point Matching Using Learned Features
Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The hard assignments of closest point correspondences based on spatial distances are sensitive to the initial rigid transformation …