WSDesc: Weakly Supervised 3D Local Descriptor Learning for Point Cloud Registration.In this work, we present a novel method called WSDesc to learn 3D local descriptors in a weakly supervised manner for robust point cloud registration. 
WSDesc
WSDesc: Weakly Supervised 3D Local Descriptor Learning for Point Cloud Registration.In this work, we present a novel method called WSDesc to learn 3D local descriptors in a weakly supervised manner for robust point cloud registration. 
WSDesc
Our work builds upon recent 3D CNN-based descriptor extractors, which leverage a voxel-based representation to parameterize local geometry of 3D points. 
3D CNN-based descriptor extractors
To this end, we design a novel differentiable voxelization layer that can back-propagate the gradient to the support size optimization. 
voxelization layer
WSDesc: Weakly Supervised 3D Local Descriptor Learning for Point Cloud Registration.In this work, we present a novel method called WSDesc to learn 3D local descriptors in a weakly supervised manner for robust point cloud registration. 
WSDesc