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experiments first commit Mar 13, 2019
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LICENSE license Jun 11, 2019 new cite Jun 23, 2019

PointNetLK: Point Cloud Registration using PointNet


Source Code Author: Yasuhiro Aoki


  • PyTorch 0.4.0 (perhaps, 0.4.1 (the latest) will be OK.) and torchvision
  • NumPy
  • SciPy
  • MatPlotLib
  • ModelNet40

Main files for experiments:

  • train PointNet classifier (used for transfer learning)
  • train PointNet-LK
  • generate 6-dim perturbations (rotation and translation) (for testing)
  • test PointNet-LK
  • test ICP
  • compute mean errors of above tests

Examples (Bash shell scripts):

  • train PointNet classifier and transfer to PointNet-LK.
  • generate perturbations for testing
  • test PointNet-LK
  • test ICP
  • compute mean errors of above tests


       author = {Aoki, Yasuhiro and Goforth, Hunter and Arun Srivatsan, Rangaprasad and Lucey, Simon},
       title = {PointNetLK: Robust & Efficient Point Cloud Registration Using PointNet},
       booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
       month = {June},
       year = {2019}
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