Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate the estimated rigid transformation with a RANSAC-like framework. While it is an indispensable component of these methods, it prevents a fully end-to-end training, leaving the objective to minimize the pose error nonserved. We present a novel solution, Q-REG, which utilizes rich geometric information to estimate the rigid pose from a single correspondence. Q-REG allows to formalize the robust estimation as an exhaustive search, hence enabling end-to-end training that optimizes over both objectives of correspondence matching and rigid pose estimation. We demonstrate in the experiments that Q-REG is agnostic to the correspondence matching method and provides consistent improvement both when used only in inference and in end-to-end training. It sets a new state-of-the-art on the 3DMatch, KITTI, and ModelNet benchmarks.

通过利用丰富的几何信息，我们提出了一种新的解决方案Q-REG，用于从单个对应关系估计刚性姿态，并在3DMatch、KITTI和ModelNet基准测试中取得了最新的最佳成果。

Q-REG: 基于曲率的端到端可训练点云配准