PDC-Net: Robust point cloud registration using deep cyclic neural network combined with PCA.

Abstract

It is important to improve the registration precision and speed in the process of registration. In order to solve this problem, we proposed a robust point cloud registration method based on deep learning, called PDC-Net, using a principal component analysis based adjustment network that quickly adjusts the initial position between two slices of the point cloud, then using an iterative neural network based on the inverse compositional algorithm to complete the final registration transformation. We compare it on the ModelNet40 dataset with iterative closest point, which is the traditional point cloud registration method, and the learning-based methods including PointNet-LK and deep closest point. The experimental results show that the registration error is not worse with the increase of the initial phase between point clouds, avoiding the algorithm falling into the local optimal solution and enhancing the robustness of registration.