Patch-guided point matching for point cloud registration with low overlap

Tianming Zhao, Linfeng Li, Tian Tian, Jiayi Ma, Jinwen Tian

Abstract: Highlights•A patch-guided point matching framework is proposed to predict correspondence.•A Matching Pyramid Network (MPN) is proposed for multilevel patch/point matching.•A CCA module is proposed to implicitly guide the matching of point feature.•A match consistency judgment module is proposed to explicitly guide point matching.•The proposed method outperforms other methods on both indoor and outdoor benchmarks.