Fast and Robust Point Cloud Registration with Tree-based Transformer
Guangyan Chen,Meiling Wang,Yi Yang,Li Yuan,Yufeng Yue,Guangyan Chen,Meiling Wang,Yi Yang,Li Yuan,Yufeng Yue
Point cloud registration is essential in computer vision and robotics. Recently, transformer-based methods have achieved advanced point cloud registration performance. However, the standard attention mechanism utilized in these methods considers many low-relevance points, and it has difficulty focusing its attention weights on sparse and meaningful points, leading to limited local structure modeli...
