Planning with Learned Dynamic Model for Unsupervised Point Cloud Registration
Authors: Haobo Jiang, Jianjun Qian, Jin Xie, Jian Yang
IJCAI 2021 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | Experimental results on Model Net40 and 7Scene benchmark datasets demonstrate that our method can yield good registration performance in an unsupervised manner. |
| Researcher Affiliation | Academia | School of Computer Science and Engineering, Nanjing University of Science and Technology, China {jiang.hao.bo, csjqian, csjxie, csjyang}@njust.edu.cn |
| Pseudocode | Yes | Algorithm 1 CEM based Registration with Learned Latent Dynamic Model |
| Open Source Code | No | The paper does not provide any concrete access information (e.g., repository link, explicit statement of code release) for the methodology described. |
| Open Datasets | Yes | Experimental results on Model Net40 and 7Scene benchmark datasets demonstrate that our method can yield good registration performance in an unsupervised manner. |
| Dataset Splits | No | The Model Net40 dataset contains 12, 311 mesh CAD models from 40 object categories. We select 2, 468 models for testing... We project the depth images into point clouds, and generate 296 scans for training and 57 scans for testing through the similar data processing in Model Net40 dataset. |
| Hardware Specification | Yes | The running time is measured in millisecond with a batch size of 1, averaged over the entire test set on a desktop computer with an Intel I5-8400 CPU and Geforce RTX 2080Ti GPU. |
| Software Dependencies | No | Our method is implemented in Py Torch and the model is trained with the Adam optimizer (Py Torch version is missing). |
| Experiment Setup | Yes | Our method is implemented in Py Torch and the model is trained with the Adam optimizer , where the learning rate and weight decay are set to 0.0001 and 0.0005. For CEM, the numbers of iterations T, candidates N and elite candidates K in CEM are set to 10, 1000 and 25, respectively. |