2021 IEEE International Conference on Acoustics, Speech and Signal Processing

6-11 June 2021 • Toronto, Ontario, Canada

Extracting Knowledge from Information

2021 IEEE International Conference on Acoustics, Speech and Signal Processing

6-11 June 2021 • Toronto, Ontario, Canada

Extracting Knowledge from Information

Technical Program

Paper Detail

Paper IDIVMSP-15.2
Paper Title VK-Net: Category-level Point Cloud Registration with Unsupervised Rotation Invariant Keypoints
Authors Zhi Chen, Wei Yang, Zhenbo Xu, Zhenbo Shi, Liusheng Huang, University of Science and Technology of China, China
SessionIVMSP-15: Local Descriptors and Texture
LocationGather.Town
Session Time:Wednesday, 09 June, 15:30 - 16:15
Presentation Time:Wednesday, 09 June, 15:30 - 16:15
Presentation Poster
Topic Image, Video, and Multidimensional Signal Processing: [IVELI] Electronic Imaging
IEEE Xplore Open Preview  Click here to view in IEEE Xplore
Virtual Presentation  Click here to watch in the Virtual Conference
Abstract In this paper, we propose VK-Net, a neural network that learns to discover a set of category-specific keypoints from a single point cloud in an unsupervised manner. VK-Net is able to generate semantically consistent and rotation invariant keypoints across objects of the same category and different views. Particularly, we find that utilizing learned keypoints for the task of point cloud registration outperforms other traditional and learning-based approaches. Given the paired source and target point clouds, we can construct keypoint correspondences from learned keypoints using VK-Net. These keypoint correspondences are then employed to calculate a good pose initialization, after which an ICP is utilized to refine the registration. Extensive experiments on the ShapeNet dataset demonstrate that our model outperforms the state-of-the-art methods by a large margin.