MSC-Net: Multi-Scale Coherence-Based Point Cloud Registration Network

Fig. 4. Multi-scale consistency-based outlier filtering module. (a) Three corresponding points ${t_{i}^{1}$ , $t_{i}^{2}$ , $t_{i}^{3}}$ selected using multi-resolution features; (b) distances between the three corresponding points {d₁₂,d₁₃,d₂₃}, and the filtration of outliers in the source point cloud

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Fig. 5. Registration results on the KITTI dataset

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Fig. 6. Registration results on the 3DMatch and 3DLoMatch datasets

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Table 1. Registration evaluation results on the KITTI dataset

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Table 1. Registration evaluation results on the KITTI dataset

Method	RTE /cm	RRE /（°）	RR /%
3DFeat-Net	25.9	0.57	96.0
FCGF	9.5	0.30	96.6
D3Feat	7.2	0.30	99.8
SpinNet	9.9	0.47	99.1
Predator	6.8	0.27	99.8
DIP	11.6	0.51	97.3
CoFiNet	8.2	0.41	99.8
MSPR-Net	7.1	0.24	99.6
GeoTransformer	6.3	0.34	99.8
MSC-Net	5.4	0.22	99.8

Table 2. Registration evaluation results on the 3DMatch and 3DLoMatch datasets

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Table 2. Registration evaluation results on the 3DMatch and 3DLoMatch datasets

Method	3DMatch			3DLoMatch
Method	RTE /cm	RRE /（°）	RR /%	RTE /cm	RRE /（°）	RR /%
FCGF	6.6	1.949	85.1	10.1	3.140	40.1
D3Feat	6.8	2.161	81.6	10.3	3.362	37.2
Predator	6.5	2.028	89.1	9.4	3.049	59.9
REGER	4.9	1.568	92.1	7.7	2.828	64.8
RoReg	6.3	1.843	93.2	9.3	3.090	71.3
MAC	6.2	1.886	93.7	9.8	3.510	59.9
MSC-Net	6.3	1.891	94.5	9.8	3.124	70.2

Table 3. Comparison of ablation test results

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Table 3. Comparison of ablation test results

Method	3DMatch			3DLoMatch
Method	RTE /cm	RRE /（°）	RR /%	RTE /cm	RRE /（°）	RR /%
D3Feat	6.8	2.161	81.6	10.3	3.362	37.2
D3Feat+MSC	6.6 （-0.2）	2.052 （-0.109）	90.1 （+8.5）	10.0 （-0.3）	3.275 （-0.087）	48.0 （+11.8）
Predator	6.5	2.028	89.1	9.4	3.049	59.9
Predator+MSC	6.4 （-0.1）	1.961 （-0.067）	91.0 （+1.9）	9.2 （-0.2）	3.038 （-0.011）	67.1 （+7.2）

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Mingliang Shan, Jun Ye, Peng Yan, Yangzhi Xu, Junjie Wen, Bin Xu, Xuefeng Liu, Jichuan Xiong. MSC-Net: Multi-Scale Coherence-Based Point Cloud Registration Network[J]. Laser & Optoelectronics Progress, 2025, 62(14): 1428003

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Paper Information

Category: Remote Sensing and Sensors

Received: Nov. 29, 2024

Accepted: Feb. 7, 2025

Published Online: Jul. 2, 2025

The Author Email: Jichuan Xiong (jichuan.xiong@njust.edu.cn)

DOI:10.3788/LOP242354

CSTR:32186.14.LOP242354

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology