Pseudo Label Learning for Partial Point Cloud Registration.

Partial point cloud registration plays a crucial role in computer vision and has widespread applications in 3D map construction, pose estimation, and high-precision localization. However, the collected point clouds often contain missing data due to hardware limitations and complex environments. Various partial registration algorithms have been proposed, most of which rely on estimating overlap regions. However, a significant proportion of these algorithms rely heavily on ground truth labels. Manual labeling is both time-consuming and labor-intensive, whereas algorithmic automatic labeling lacks sufficient accuracy. To tackle this issue, we present PSEudo Label learning for unsupervised partial point cloud registration (PSEL). This method utilizes complementary tasks to learn reliable pseudo labels for overlap regions and correspondences without depending on ground truth labels. The key idea is to use the complementarity between overlap estimation and registration to generate two types of pseudo labels based on the nearest points in pairs of aligned point clouds. These pseudo labels are then employed to supervise the learning of overlap regions and correspondences, gradually enhancing their accuracy throughout the learning process and ultimately establishing an unsupervised learning framework. PSEL consists of an overlap estimation module and a correspondence filtering module. The pseudo labels generated after registration are used to supervise both modules. Notably, the correspondence filtering module has two pipelines. The similarity and difference of the corresponding point features are used to eliminate false correspondences during the training and inference stages, respectively, with only the latter being optimized with pseudo labels. To validate the effectiveness of our registration method, we conducted experiments using the synthetic dataset ModelNet40, the indoor dataset 3DMatch, and the outdoor dataset KITTI. The code is available at https://github.com/yifans923/PSEL.