How is the keypoint detection applied?

[JarintotionDin]

RT?Is that using D3Feat?

[aosheng1996]

Hi, @JarintotionDin, thanks for your interest in our work! In all experiments, we randomly select a set of points for feature description. Of course, you can first extract a set of keypoints using D3Feat or other 3D keypoint detectors, and then calculate the SpinNet descriptors of these keypoints for point cloud registration.