| --- |
| license: mit |
| tags: |
| - point-cloud |
| - 3d-registration |
| - geometric-features |
| - pytorch |
| - minkowski-engine |
| --- |
| |
| # Fully Convolutional Geometric Features (FCGF) |
|
|
| Pretrained weights for **Fully Convolutional Geometric Features**, ICCV 2019. |
|
|
| - Paper: [Fully Convolutional Geometric Features](https://node1.chrischoy.org/data/publications/fcgf/fcgf.pdf) |
| - Code: [chrischoy/FCGF](https://github.com/chrischoy/FCGF) |
|
|
| FCGF extracts dense 3D geometric features in a single forward pass through a 3D fully-convolutional network, built on [MinkowskiEngine](https://github.com/NVIDIA/MinkowskiEngine). These checkpoints are the official weights released with the paper, previously hosted on `node1.chrischoy.org` and mirrored here. |
|
|
| ## Model Zoo |
|
|
| All models use the `ResUNetBN2C` backbone. |
|
|
| | File | Normalized Feature | Dataset | Voxel Size | Feature Dimension | Performance | |
| |:-----------------------------------------------|:-------------------:|:-------:|:-------------:|:-----------------:|:--------------------------:| |
| | [2019-08-19_06-17-41.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-08-19_06-17-41.pth) | True | 3DMatch | 2.5cm (0.025) | 32 | FMR: 0.9578 +- 0.0272 | |
| | [2019-09-18_14-15-59.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-09-18_14-15-59.pth) | True | 3DMatch | 2.5cm (0.025) | 16 | FMR: 0.9442 +- 0.0345 | |
| | [2019-08-16_19-21-47.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-08-16_19-21-47.pth) | True | 3DMatch | 5cm (0.05) | 32 | FMR: 0.9372 +- 0.0332 | |
| | [2019-07-31_19-30-19.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-07-31_19-30-19.pth) | False | KITTI | 20cm (0.2) | 32 | RTE: 0.0534m, RRE: 0.1704° | |
| | [2019-07-31_19-37-00.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-07-31_19-37-00.pth) | False | KITTI | 30cm (0.3) | 32 | RTE: 0.0607m, RRE: 0.2280° | |
| | [KITTI-v0.3-ResUNetBN2C-conv1-5-nout16.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/KITTI-v0.3-ResUNetBN2C-conv1-5-nout16.pth) | True | KITTI | 30cm (0.3) | 16 | RTE: 0.0670m, RRE: 0.2295° | |
| | [KITTI-v0.3-ResUNetBN2C-conv1-5-nout32.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/KITTI-v0.3-ResUNetBN2C-conv1-5-nout32.pth) | True | KITTI | 30cm (0.3) | 32 | RTE: 0.0639m, RRE: 0.2253° | |
|
|
| `redkitchen-20.ply` is the sample point cloud used by [`demo.py`](https://github.com/chrischoy/FCGF/blob/master/demo.py) in the FCGF repo. |
|
|
| ## Usage |
|
|
| ```python |
| import torch |
| from urllib.request import urlretrieve |
| |
| urlretrieve( |
| "https://huggingface.co/chrischoy/FCGF/resolve/main/2019-09-18_14-15-59.pth", |
| "ResUNetBN2C-16feat-3conv.pth") |
| |
| checkpoint = torch.load("ResUNetBN2C-16feat-3conv.pth") |
| ``` |
|
|
| See [chrischoy/FCGF](https://github.com/chrischoy/FCGF) for the full model definition (`ResUNetBN2C`) and feature extraction code. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @inproceedings{FCGF2019, |
| author = {Christopher Choy and Jaesik Park and Vladlen Koltun}, |
| title = {Fully Convolutional Geometric Features}, |
| booktitle = {ICCV}, |
| year = {2019}, |
| } |
| ``` |
|
|
