“Although deep neural networks endow the downsampled superpoints with discriminative feature representations, directly matching them is usually not used alone in state-of-the-art methods. … Existing approaches use the coarse-to-fine strategy to propagate the superpoints correspondences to the point level, which are not discriminative enough and further necessitates the postprocessing refinement. In this paper, we present a simple yet effective approach to extract correspondences by directly matching superpoints using a global softmax layer in an end-to-end manner, which are used to determine the rigid transformation between the source and target point cloud.”

Find the paper and full list of authors at ArXiv.