Hongbin Ma

Guiyu Zhao, Zhentao Guo, Zewen Du et al.

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve robust and accurate cross-source registration. To address the density inconsistency between cross-source data, we introduce a density-robust encoder for extracting density-robust features. To tackle the issue of challenging feature matching and few correct correspondences, we adopt a loose-to-strict matching pipeline with a ``loose generation, strict selection'' idea. Under it, we employ a one-to-many strategy to loosely generate initial correspondences. Subsequently, high-quality correspondences are strictly selected to achieve robust registration through sparse matching and dense matching. On the challenging Kinect-LiDAR scene in the cross-source 3DCSR dataset, our method improves feature matching recall by 63.5 percentage points (pp) and registration recall by 57.6 pp. It also achieves the best performance on 3DMatch, while maintaining robustness under diverse downsampling densities.

Xiangri Lu, Hongbin Ma, Jingcheng Zhang

Recent work has shown that the activation function of the convolutional neural network can meet the Lipschitz condition, then the corresponding convolutional neural network structure can be constructed according to the scale of the data set, and the data set can be trained more deeply, more accurately and more effectively. In this article, we have accepted the experimental results and introduced the core block N-Gauss, N-Gauss, and Swish (Conv1, Conv2, FC1) neural network structure design to train MNIST, CIFAR10, and CIFAR100 respectively. Experiments show that N-Gauss gives full play to the main role of nonlinear modeling of activation functions, so that deep convolutional neural networks have hierarchical nonlinear mapping learning capabilities. At the same time, the training ability of N-Gauss on simple one-dimensional channel small data sets is equivalent to the performance of ReLU and Swish.