PointNetLK
所属分类：数值算法/人工智能
开发工具：Python
文件大小：30874KB
下载次数：4
上传日期：2020-02-10 14:56:26
上 传 者：
lihigo
说明： 识别点云模型 使用PointNet网络对3d模型进行识别 精确度80%以上
(Identifying point cloud model using pointnet network)
文件列表:
PointNetLK\.idea\misc.xml (288, 2019-12-29)
PointNetLK\.idea\modules.xml (272, 2019-12-29)
PointNetLK\.idea\other.xml (186, 2019-12-29)
PointNetLK\.idea\PointNetLK.iml (455, 2019-12-29)
PointNetLK\.idea\vcs.xml (180, 2019-12-29)
PointNetLK\.idea\workspace.xml (19251, 2020-01-23)
PointNetLK\experiments\.DS_Store (6148, 2019-12-28)
PointNetLK\experiments\a.bat (168, 2020-01-07)
PointNetLK\experiments\ex1_genpert.sh (1573, 2019-12-28)
PointNetLK\experiments\ex1_genrot.sh (4421, 2020-01-07)
PointNetLK\experiments\ex1_result_stat.sh (1714, 2020-01-08)
PointNetLK\experiments\ex1_test_icp.sh (2467, 2020-01-07)
PointNetLK\experiments\ex1_test_pointlk.sh (3090, 2020-01-07)
PointNetLK\experiments\ex1_train.sh (993, 2020-01-23)
PointNetLK\experiments\generate_perturbations.py (3119, 2019-12-28)
PointNetLK\experiments\generate_rotations.py (3322, 2019-12-28)
... ...
# PointNetLK: Point Cloud Registration using PointNet
### [Video](https://youtu.be/J2ClR5OZuLc)
Source Code Author:
Yasuhiro Aoki
### Requires:
* PyTorch 0.4.0 (perhaps, 0.4.1 (the latest) will be OK.) and torchvision
* NumPy
* SciPy
* MatPlotLib
* ModelNet40
### Main files for experiments:
* train_classifier.py: train PointNet classifier (used for transfer learning)
* train_pointlk.py: train PointNet-LK
* generate_rotation.py: generate 6-dim perturbations (rotation and translation) (for testing)
* test_pointlk.py: test PointNet-LK
* test_icp.py: test ICP
* result_stat.py: compute mean errors of above tests
### Examples (Bash shell scripts):
* ex1_train.sh: train PointNet classifier and transfer to PointNet-LK.
* ex1_genrot.sh: generate perturbations for testing
* ex1_test_pointlk.sh: test PointNet-LK
* ex1_test_icp.sh: test ICP
* ex1_result_stat.sh: compute mean errors of above tests
### Citation
```
@InProceedings{yaoki2019pointnetlk,
author = {Aoki, Yasuhiro and Goforth, Hunter and Arun Srivatsan, Rangaprasad and Lucey, Simon},
title = {PointNetLK: Robust & Efficient Point Cloud Registration Using PointNet},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2019}
}
```
近期下载者：
相关文件：
收藏者：