Preprint
Sep 2026
Unsupervised Point Cloud Registration via Training-Time Semantic Guidance
Unsupervised registration of large-scale LiDAR point clouds remains challenging due to the geometric ambiguity inherent in outdoor scenes, which degrades pseudo-label quality and leads to suboptimal convergence, particularly for sparse, low-resolution scans such as those from nuScenes. We reveal that registration model...
Kezheng Xiong, Shi-Yun Xu, Sheng Ao et al.
· 0 citations