Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute outliers of all the other instances. Existing methods often rely on time-consuming hypothesis sampling or features leveraging spatial consistency, resulting in limited performance. In this paper, we propose PointCLM, a contrastive learning-based framework for mutli-instance point cloud registration. We first utilize contrastive learning to learn well-distributed deep representations for the input putative correspondences. Then based on these representations, we propose a outlier pruning strategy and a clustering strategy to efficiently remove outliers and assign the remaining correspondences to correct instances. Our method outperforms the state-of-the-art methods on both synthetic and real datasets by a large margin.
@article{arxiv.2209.00219,
title = {PointCLM: A Contrastive Learning-based Framework for Multi-instance Point Cloud Registration},
author = {Mingzhi Yuan and Zhihao Li and Qiuye Jin and Xinrong Chen and Manning Wang},
journal= {arXiv preprint arXiv:2209.00219},
year = {2022}
}