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BUFFER: Balancing Accuracy, Efficiency, and Generalizability in Point Cloud Registration (CVPR 2023)

This is the official repository of BUFFER, a point cloud registration method for balancing accuracy, efficiency, and generalizability. For technical details, please refer to:

BUFFER: Balancing Accuracy, Efficiency, and Generalizability in Point Cloud Registration <br /> Sheng Ao, Qingyong Hu, Hanyun Wang, Kai Xu, Yulan Guo. <br />

[Paper] [Video] [Project page] <br />

(1) Overview

fig1

(2) Setup

This code has been tested with Python 3.8, Pytorch 1.9.1, CUDA 11.1 on Ubuntu 20.04.

Clone the repository

git clone https://github.com/aosheng1996/BUFFER && cd BUFFER

Setup conda virtual environment

conda create -n buffer python=3.8
source activate buffer
pip install torch==1.9.1+cu111 torchvision==0.10.1+cu111 torchaudio==0.9.1 -f https://download.pytorch.org/whl/torch_stable.html
pip install open3d==0.13.0

export CUDA_HOME=/your/cuda/home/directory/
pip install "git+git://github.com/erikwijmans/Pointnet2_PyTorch.git#egg=pointnet2_ops&subdirectory=pointnet2_ops_lib"
pip install --upgrade https://github.com/unlimblue/KNN_CUDA/releases/download/0.2/KNN_CUDA-0.2-py3-none-any.whl
pip install ninja kornia einops easydict tensorboard tensorboardX
pip install nibabel -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
cd cpp_wrappers && sh compile_wrappers.sh && cd ..
git clone https://github.com/KinglittleQ/torch-batch-svd.git && cd torch-batch-svd && python setup.py install && cd .. && sudo rm -rf torch-batch-svd/

(3) 3DMatch

Following Predator, we provide the processed 3DMatch training set (subsampled fragments with voxel size of 1.5cm and their ground truth transformation matrices).

Download the processed dataset from Google Drive and put the folder into data. Then the structure should be as follows:

data
- ThreeDMatch
  - train
    - 7-scenes-chess
    - ...
    - 3DMatch_train_overlap.pkl
    - train_3dmatch.txt
    - val_3dmatch.txt
  - test
    - 3DLoMatch
    - 3DMatch

Training

Training BUFFER on the 3DMatch dataset:

cd ./ThreeDMatch
python train.py

Testing

Evaluate the performance of the trained models on the 3DMatch dataset:

cd ./ThreeDMatch
python test.py

To evaluate the performance of BUFFER on the 3DLoMatch dataset, you only need to modify the _C.data.dataset = '3DMatch' in config.py to _C.data.dataset = '3DLoMatch' and performs:

python test.py

(4) KITTI

Download the data from the KITTI Odometry website into data. Then the structure is as follows:

data
- KITTI
  - dataset
    - pose
      - 00.txt
      - ...
    - sequences
      - 00
      - ...

Training

Training BUFFER on the KITTI dataset:

cd ./KITTI
python train.py

Testing

Evaluate the performance of the trained models on the KITTI dataset:

cd ./KITTI
python test.py

(5) ETH

The test set can be downloaded from here, and put the folder into data, then the structure is as follows:

data
- ETH
  - gazebo_summer
  - gazebo_winter
  - wood_autmn
  - wood_summer

(6) Generalizing to Unseen Datasets

3DMatch to ETH

Generalization from 3DMatch dataset to ETH dataset:

cd ./generalization/ThreeD2ETH
python test.py

3DMatch to KITTI

Generalization from 3DMatch dataset to KITTI dataset:

cd ./generalization/ThreeD2KITTI
python test.py

KITTI to 3DMatch

Generalization from KITTI dataset to 3DMatch dataset:

cd ./generalization/KITTI2ThreeD
python test.py

KITTI to ETH

Generalization from KITTI dataset to ETH dataset:

cd ./generalization/KITTI2ETH
python test.py

Acknowledgement

In this project, we use (parts of) the implementations of the following works:

Citation

If you find our work useful in your research, please consider citing:

@inproceedings{ao2023buffer,
  title={BUFFER: Balancing Accuracy, Efficiency, and Generalizability in Point Cloud Registration},
  author={Ao, Sheng and Hu, Qingyong and Wang, Hanyun and Xu, Kai and Guo, Yulan},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={1255--1264},
  year={2023}
}

Updates

07/06/2023: The code is released!
28/02/2023: This paper has been accepted by CVPR 2023!