Point Tree Transformer for Point Cloud Registration ArXiv

In this work, we propose the Point Tree Transformer (PTT), a novel transformer-based approach for point cloud registration that efficiently extracts comprehensive local and global features while maintaining linear computational complexity. The PTT constructs hierarchical feature trees from point clouds in a coarse-to-dense manner, and introduces a novel Point Tree Attention (PTA) mechanism, which follows the tree structure to facilitate the progressive convergence of attended regions towards salient points.

If you find this useful, please cite:

@article{wang2024point,
  title={Point Tree Transformer for Point Cloud Registration},
  author={Wang, Meiling and Chen, Guangyan and Yang, Yi and Yuan, Li and Yue, Yufeng},
  journal={arXiv preprint arXiv:2406.17530},
  year={2024}
}

Dataset environment

Our model is trained with the following environment:

• Python 3.8.8
• PyTorch 1.9.1 with torchvision 0.10.1 (Cuda 11.1)
• PyTorch3D 0.6.0
• MinkowskiEngine 0.5.4
• pointops

Other required packages can be installed using pip: pip install -r src/requirements.txt.

Data and Preparation

Follow the following instructions to download each dataset (as necessary). Your folder should then look like this:

.
├── data/
    ├── indoor/
        ├── test/
        |   ├── 7-scenes-redkitchen/
        |   |   ├── cloud_bin_0.info.txt
        |   |   ├── cloud_bin_0.pth
        |   |   ├── ...
        |   ├── ...
        ├── train/
        |   ├── 7-scenes-chess/
        |   |   ├── cloud_bin_0.info.txt
        |   |   ├── cloud_bin_0.pth
        |   |   ├── ...
        ├── test_3DLoMatch_pairs-overlapmask.h5
        ├── test_3DMatch_pairs-overlapmask.h5
        ├── train_pairs-overlapmask.h5
        └── val_pairs-overlapmask.h5
    └── modelnet40_ply_hdf5_2048
        ├── ply_data_test0.h5
        ├── ply_data_test1.h5
        ├── ...
├── src/
└── Readme.md

3DMatch

Download the processed dataset from Predator project site, and place them into ../data.

Then for efficiency, it is recommended to pre-compute the overlapping points (used for computing the overlap loss). You can do this by running the following from the src/ directory:

python data_processing/compute_overlap_3dmatch.py

ModelNet

Download the PointNet-processed dataset from here, and place it into ../data.

Pretrained models

You can download our trained models here. Unzip the files into the trained_models/.

Inference/Evaluation

The following code in the src/ directory performs evaluation using the pretrained checkpoints as provided above; change the checkpoint paths accordingly if you're using your own trained models. Note that due to non-determinism from the neighborhood computation during our GPU-based KPConv processing, the results will differ slightly (e.g. mean registration recall may differ by around +/- 0.2%) between each run.

# 3DMatch
python test.py --dev --resume ../trained_models/3dmatch/ckpt/model-best.pth --benchmark 3DMatch

# 3DLoMatch
python test.py --dev --resume ../trained_models/3dmatch/ckpt/model-best.pth --benchmark 3DLoMatch

Training

Run the following commands from the src/ directory to train the network.

python train.py --config conf/3dmatch.yaml

Acknowledgements

We would like to thank the authors for RegTR Stratified Transformer Predator, D3Feat, KPConv, DETR for making their source codes public.