PEAL: Prior-embedded Explicit Attention Learning for Low-overlap Point Cloud Registration [CVPR-2023]
This is the official repo of CVPR 2023 paper : '' PEAL: Prior-embedded Explicit Attention Learning for Low-overlap Point Cloud Registration ''
[CVPR2023] PEAL: Prior-embedded Explicit Attention Learning for Low-overlap Point Cloud Registration
Nice work! and I really want to follow your work.
However, I noticed that the latest repository is still not updated, and there is no corresponding 2D prior data in the history.
Could you please let me know when the latest code and data will be released?
Thank you for your nice work!
Will you release the prior data and code for the KITTI dataset?
Thank you for your nice work!
I would like to ask a question about the paper about One-Way attention. Why not used the One-Way attention mechanism on the Cross-Attention(Inter Frame) but only in intra frame?Have you ever done some experiments? Just a little confusion!
Hello,
It's really a nice work !
I have some questions about the details of how you process the files in geo_prior
as there are several empty files in geo_prior
, like geo_prior_tesval/7-scenes-redkitchen/5_9.npz
with 0KB size. Are these files empty because ref_corr_indices
and src_corr_indices
are none under the estimated_transform
by GeoTransformer ?
Besides, when I tried to run the pretrained model on test dataset, I met error at prior_data = np.load(file_name)
which locates at PEAL/geotransformer/datasets/registration/threedmatch/dataset.py line 214
. The error is reported because numpy
can not load an empty .npz
file when testing the case of 5_9 in 7-scenes-redkitchen
. How can I solve this problem?
Thanks,
Xinqi.
Nice work! Can the author open source the data of 3DMatch & 3DLoMatch? Or code that processes data
Thank you for your nice work! Would you mind releasing the 2D prior to the 3DMatch and 3DLoMatch datasets?
Best,
Zhi
Hi,
Thanks for your great work!
May we know when the code will be released?
Thanks!
Thank you for your nice work!
I encountered an error running the project.
File "PEAL-master/experiments/geotransformer.3dmatch.stage4.gse.k3.max.oacl.stage2.sinkhorn/model.py", line 146, in forward
estimated_transform = data_dict['estimated_transform'].detach()
And I find that there' s no key 'estimated_transform' in data_dict, could you help me out?
Thank you for your nice work! Would you mind releasing the 2D prior to the 3DMatch and 3DLoMatch datasets?
Thank you for your excellent work! Could you please release the pretrained models to replicate the results reported in the paper?
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