S2Reg: Structure-semantics collaborative point cloud registration

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Zongyi Xu, Xinyu Gao, Xinqi Jiang, Shiyang Cheng, Qianni Zhang, Weisheng Li, Xinbo Gao

Published: 2025, Last Modified: 07 Jan 2026Pattern Recognit. 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•We propose a novel point cloud registration method with Structure-Semantics collaboration.•Multiple semantic superpoint features are enhanced with neighboring points semantics.•The semantic-structural correlation and consistency are captured by attention mechanism.•We propose Semantic-3DMatch dataset with point clouds, images and point-wise semantics.