cascading_feature_extraction's Introduction

Cascading Feature Extraction for Fast Point Cloud Registration

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

Getting Started

cascading_feature_extraction
|- datasets/
        |- modelnet40_ply_hdf5_2048.zip
        |- modelnet40_ply_hdf5_2048/
|- src/
    ...
|- pretrained/
        |- modelnet40.pth

Download dataset

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

Requirements

pip install -r requirements.txt

We confirmed that the code runs at Python>=3.7.

Train

cd src
python train.py

Test

cd src
python eval.py --resume ../pretrained/modelnet40.pth

Citation

@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}
}