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chrischoy / DeepGlobalRegistration

[CVPR 2020 Oral] A differentiable framework for 3D registration
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I want to konwn how to do the Multi-way Registration? thanks #14

Closed BiaoBiaoLi closed 3 years ago

BiaoBiaoLi commented 3 years ago

In this section 5.2. Multi-way Registration Multi-way registration for RGB-D scans proceeds via multiple stages. First, the pipeline estimates the camera pose via off-the-shelf odometry and integrates multiple 3D scans to reduce noise and generate accurate 3D fragments of a scene. Next, a pairwise registration algorithm roughly aligns all fragments, followed by multi-way registration [6] which optimizes fragment poses with robust pose graph optimization. I want to know in the fisrt stage, if you use the groud truth of these datasets ? thanks

theNded commented 3 years ago

No, we used Open3D's RGB-D odometry. We replaced RANSAC/FGR with DGR in this system https://github.com/intel-isl/Open3D/tree/master/examples/python/reconstruction_system

BiaoBiaoLi commented 3 years ago

thank you very much, I haven't studied this before. if you use the all RGB-D images to reconstruct ? and if you use the camera pose estimated for pairwise registration as initialization in Multi-way Registration?

pranavgundewar commented 3 years ago

@theNded Can you share a sample script for DGR implementation of Multiwa Registration in Open3D?

Thank you.