StickyPillars: Robust feature matching on point clouds using Graph Neural Networks

02/10/2020 ∙ by Martin Simon, et al. ∙ 17

StickyPillars introduces a sparse feature matching method on point clouds. It is the first approach applying Graph Neural Networks on point clouds to stick points of interest. The feature estimation and assignment relies on the optimal transport problem, where the cost is based on the neural network itself. We utilize a Graph Neural Network for context aggregation with the aid of multihead self and cross attention. In contrast to image based feature matching methods, the architecture learns feature extraction in an end-to-end manner. Hence, the approach does not rely on handcrafted features. Our method outperforms state-of-the art matching algorithms, while providing real-time capability.



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