Angle-I2P rejects outliers in cross-modality registration via scale-invariant angular consistency and hierarchical attention, reporting state-of-the-art inlier ratio and registration recall on 7Scenes, RGBD Scenes V2, and a self-collected dataset.
2d3d- matr: 2d-3d matching transformer for detection-free registration between images and point clouds
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Angle-I2P: Angle-Consistent-Aware Hierarchical Attention for Cross-Modality Outlier Rejection
Angle-I2P rejects outliers in cross-modality registration via scale-invariant angular consistency and hierarchical attention, reporting state-of-the-art inlier ratio and registration recall on 7Scenes, RGBD Scenes V2, and a self-collected dataset.