SACF-Net: Skip-Attention Based Correspondence Filtering Network for Point Cloud Registration

Yue Wu, Xidao Hu, Yue Zhang, Maoguo Gong, Wenping Ma, Qiguang Miao

Abstract: Rigid registration is a transformation estimation problem between two point clouds. The two point clouds captured may partially overlap owing to different viewpoints and acquisition times. Some previous correspondence matching based methods utilize an encoder-decoder network to carry out partial-to-partial registration task and adopt a skip-connection structure to convey information between the encoder and decoder. However, equally revisiting them with skip-connection may introduce the information redundancy, and limit the feature learning ability of the entire network. To address these problems, we propose a skip-attention based correspondence filtering network (SACF-Net) for point cloud registration. A novel feature interaction mechanism is designed to utilize both low-level geometric information and high-level context-aware information to enhance the original pointwise matching map. Additionally, a skip-attention based correspondence filtering method is proposed to selectively revisits features in the encoder at different resolutions, allowing the decoder to extract high-quality correspondences within overlapping regions. We conduct comprehensive experiments on indoor and outdoor scene datasets, and the results show that the proposed SACF-Net yields unprecedented performance improvements.