RGBD-Glue: General Feature Combination for Robust RGB-D Point Cloud Registration

Understand

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds.

• Previous studies have used geometric information for extracting features, matching and estimating transformation.
• Recently, owing to the advancement of RGB-D sensors, researchers have attempted to combine visual and geometric information to improve registration performance.
• However, these studies focused on extracting distinctive features by deep feature fusion, which cannot effectively solve the negative effects of each feature's weakness, and cannot sufficiently leverage the valid information.