HEGN: Hierarchical Equivariant Graph Neural Network for 9DoF Point Cloud Registration
Adam Misik,Driton Salihu,Xin Su,Heike Brock,Eckehard Steinbach,Adam Misik,Driton Salihu,Xin Su,Heike Brock,Eckehard Steinbach
Given its wide application in robotics, point cloud registration is a widely researched topic. Conventional methods aim to find a rotation and translation that align two point clouds in 6 degrees of freedom (DoF). However, certain tasks in robotics, such as category-level pose estimation, involve non-uniformly scaled point clouds, requiring a 9DoF transform for accurate alignment. We propose HEGN,...
