CFI2P: Coarse-to-Fine Cross-Modal Correspondence Learning for Image-to-Point Cloud Registration

In the context of image-to-point cloud registration, acquiring point-to-pixel correspondences presents a challenging task since the similarity between individual points and pixels is ambiguous due to the visual differences in data modalities. Nevertheless, the same object present in the two data formats can be readily identified from the local perspective of point sets and pixel patches. Motivated by this intuition, we propose a coarse-to-fine framework that emphasizes the establishment of correspondences between local point sets and pixel patches, followed by the refinement of results at both the point and pixel levels. On a coarse scale, we mimic the classic Visual Transformer to translate both image and point cloud into two sequences of local representations, namely point and pixel proxies, and employ attention to capture global and cross-modal contexts. To supervise the coarse matching, we propose a novel projected point proportion loss, which guides to match point sets with pixel patches where more points can be projected into. On a finer scale, point-to-pixel correspondences are then refined from a smaller search space (i.e., the coarsely matched sets and patches) via well-designed sampling, attentional learning and fine matching, where sampling masks are embedded in the last two steps to mitigate the negative effect of sampling. With the high-quality correspondences, the registration problem is then resolved by EPnP algorithm within RANSAC. Experimental results on large-scale outdoor benchmarks demonstrate our superiority over existing methods.