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Point Cloud Registration Network in PyTorch.

Source Code Author: Vinit Sarode

[Paper] [Github Link]

This is a pytorch implementation of PCRNet paper.

Requirements:

  1. Cuda 10
  2. pytorch==1.4.0
  3. transforms3d==0.3.1
  4. h5py==2.9.0

How to use code:

Train Iterative-PCRNet:

python train_pcrnet.py

Citation

@InProceedings{vsarode2019pcrnet,
       author = {Sarode, Vinit and Li, Xueqian and Goforth, Hunter and Aoki, Yasuhiro and Arun Srivatsan, Rangaprasad and Lucey, Simon and Choset, Howie},
       title = {PCRNet: Point Cloud Registration Network using PointNet Encoding},
       month = {Aug},
       year = {2019}
}

This code builds upon the code provided in Deep Closest Point DCP. We thanks the authors of the paper for sharing their code.