3D Local Features for Direct Pairwise Registration 2019论文笔记
慕尼黑工业大学, 西门子 ,国防科大 本文针对点云配准和点云相对位姿估计问题，提出了适应于该任务的局部描述子，以及在该描述子上进行相对位姿回归的网络，RelativeNet。 局部特征的学习根据2D图像的方法，应该先设计好用的局部描述子，或者使用网络学习。 然而，作者指出，现有的3D描述子无论是手工设计还是网络学习，都不能像2D描述子一样将领域内的边缘朝向等信息提取出来，因而并不适用于点云配准任务
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