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

Figure 7

Example results of GPA-Net on partially visible data. The source point cloud is yellow, and the target point cloud is blue. (a)–(f) are cropped to preserve 70% of the original point cloud, and (g)–(l) are cropped to preserve 50% of the original point cloud. (a) airplane, (b) car, (c) chair, (d) guitar, (e) lamp, (f) vase, (g) bottle, (h) laptop, (i) toilet, (j) table, (k) sofa, and (l) bed.

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