A Partial-to-Partial Point Cloud Registration Method Based on Geometric Attention Network

Figure 10

Example results of GAP-Net on partially visible data. The source point cloud is yellow, and the target point cloud is blue. (a)–(d) are partially overlapping scene pairs containing >30%; (e)–(i) are partially overlapping scene pairs containing 10%–30%. (a) Overlap: 0.4532; (b) overlap: 0.3713; (c) overlap: 0.3625; (d) overlap: 0.3301; (e) overlap: 0.2912; (f) overlap: 0.2811; (g) overlap: 0.2314; (h) overlap: 0.2113; (i) overlap: 0.1013.

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