[QUESTION]Some Issues about Keypoints

[houyongkuo]

Thanks for your work. I meet some issues using teaser++. How do I get the keypoints data? If I want to register my own two data, but I don’t have keypoints, what should I do? I would be grateful if you could help me figure this out.

[jingnanshi]

Hi @HOUYONGKUO , thank you for your interest. You need to use a feature extractor & matcher to find correspondences. For example, you can use FPFH, or FCGF, or 3DSmoothNet.

[houyongkuo]

If there is no keypoints data, can Teaser++ be used for registration?

[jingnanshi]

@HOUYONGKUO as described in the paper, you can try all-to-all with your input points, but that's only going to work for small point clouds.

[LimHyungTae]

Voxelized-FPFH works well even though we do not extract any keypoints. Please follow the instructions in the papers for 3D sparse point clouds, not the Bunny dataset:

• https://arxiv.org/abs/2203.06612
• https://arxiv.org/abs/2311.00928

[LimHyungTae]

If there are no further questions, we will close the issue :) Thx