Full Transformer Framework for Robust Point Cloud Registration with Deep Information Interaction

This repository contains python scripts for training and testing [Deep Interaction Transformer (DIT)]

Deep Interaction Transformer (DIT) is a full Transformer framework for point cloud registration, which achieves superior performance compared with current state-of-the-art learning-based methods in accuracy and robustness. DIT consists of the following three main modules:

• a Point Cloud Structure Extractor for modeling global relation.
• a Point Feature Transformer for improving the discrimination of features.
• a GMCCE for correspondence confidence evaluation.

Configuration

This code is based on PyTorch implementation, and tested on:

• Ubuntu 18.04
• CUDA 11.1
• pytorch 1.8.1
• python 3.7.10

You can install the python requirements on your system with:

cd DIT
pip install -r requirements.txt

Training

You can run the relevant commands under the /DIT path to train the DIT model in a specific environment, the network parameters will be saved in the /models folder. Specifically, we use the ModelNet40 dataset for this work, which will be automatically downloaded if necessary.

Train the DIT on the clean, low noise partial, high noise partial point clouds as

sh experiments/1_train_clean.sh

sh experiments/1_train_low_noise_partial.sh

sh experiments/1_train_high_noise_partial.sh

Evaluation

We provide

• pretrained models on ModelNet40 on clean, low noise partial, high noise partial point clouds. You can download it from this link weight. Unzip and place it in the /DIT folder, such that there are three pretrained models under the /DIT/models path;
• three files 1_eval_clean.sh, 1_eval_low_noise_partial.sh, 1_eval_high_noise_partial.sh to evaluate the DIT model on clean, low noise partial, high noise partial point clouds in /experiments folder;
• three files 1_eval_clean_vis.sh, 1_eval_low_noise_partial_vis.sh, 1_eval_high_noise_partial_vis.sh to visualize the DIT registration process on clean, low noise partial, high noise partial point clouds in /experiments folder;

You can run the relevant commands under the /DIT path to evaluate the DIT model in a specific environment. If you want to evaluate your training results, you can change the model path in the sh file directly

Evaluate the DIT on the clean, low noise partial, high noise partial point clouds as

sh experiments/1_eval_clean.sh

sh experiments/1_eval_low_noise_partial.sh

sh experiments/1_eval_high_noise_partial.sh

You can run the relevant commands under the /DIT path to visualize the DIT registration process in a specific environment as

sh experiments/1_eval_clean_vis.sh

sh experiments/1_eval_low_noise_partial_vis.sh

sh experiments/1_eval_high_noise_partial_vis.sh