Spatial-Temporal Transformer for point cloud registration in digital modeling of complex environments

Li An, Pengbo Zhou, Mingquan Zhou, Yong Wang, Guohua Geng, Wuyang Shui, Wen Tang

Abstract: Highlights•Proposed point cloud registration with dual-branch position encoding.•Spatial-Temporal Transformer improves alignment in low-overlap, large-scale.•Dual-branch position encoding promotes local-to-global feature fusion.•The Temporal Transformer module enhances the learning of internal point cloud features.