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The problem of registering point clouds in scenarios with low overlap is explored in this study. Previous methodologies depended on having a sufficient number of repeatable keypoints to extract correspondences, making them less effective in partially overlapping environments. In this paper, a novel learning network is proposed to optimize correspondences in sparse keypoints. Firstly, a multi-layer channel sampling mechanism is suggested to enhance the information in point clouds, and keypoints were filtered and fused at multi-layer resolutions to form patches through feature weight filtering. Moreover, a template matching module is devised, comprising a self-attention mapping convolutional neural network and a cross-attention network. This module aims to match contextual features and refine the correspondence in overlapping areas of patches, ultimately enhancing correspondence accuracy. Experimental results demonstrate the robustness of our model across various datasets, including ModelNet40, 3DMatch, 3DLoMatch, and KITTI. Notably, our method excels in low-overlap scenarios, showcasing superior performance. |
