Point Cloud Registration via Heuristic Reward Reinforcement Learning

Abstract

This paper proposes a heuristic reward reinforcement learning framework for point cloud registration. As an essential step of many 3D computer vision tasks such as object recognition and 3D reconstruction, point cloud registration has been well studied in the existing literature. This paper contributes to the literature by addressing the limitations of embedding and reward functions in existing methods. An improved state-embedding module and a stochastic reward function are proposed. While the embedding module enriches the captured characteristics of states, the newly designed reward function follows a time-dependent searching strategy, which allows aggressive attempts at the beginning and tends to be conservative in the end. We assess our method based on two public datasets (ModelNet40 and ScanObjectNN) and real-world data. The results confirm the strength of the new method in reducing errors in object rotation and translation, leading to more precise point cloud registration.