Paper ID: 2312.03032

Zero-Shot Point Cloud Registration

Weijie Wang, Guofeng Mei, Bin Ren, Xiaoshui Huang, Fabio Poiesi, Luc Van Gool, Nicu Sebe, Bruno Lepri

Learning-based point cloud registration approaches have significantly outperformed their traditional counterparts. However, they typically require extensive training on specific datasets. In this paper, we propose , the first zero-shot point cloud registration approach that eliminates the need for training on point cloud datasets. The cornerstone of ZeroReg is the novel transfer of image features from keypoints to the point cloud, enriched by aggregating information from 3D geometric neighborhoods. Specifically, we extract keypoints and features from 2D image pairs using a frozen pretrained 2D backbone. These features are then projected in 3D, and patches are constructed by searching for neighboring points. We integrate the geometric and visual features of each point using our novel parameter-free geometric decoder. Subsequently, the task of determining correspondences between point clouds is formulated as an optimal transport problem. Extensive evaluations of ZeroReg demonstrate its competitive performance against both traditional and learning-based methods. On benchmarks such as 3DMatch, 3DLoMatch, and ScanNet, ZeroReg achieves impressive Recall Ratios (RR) of over 84%, 46%, and 75%, respectively.

Submitted: Dec 5, 2023