{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/pointclm-a-contrastive-learning-based","title":"PointCLM: A Contrastive Learning-based Framework for Multi-instance Point Cloud Registration","arxiv_id":"2209.00219","date":"2022-09-01","proceeding":null,"authors":["Mingzhi Yuan","Zhihao LI","Qiuye Jin","Xinrong Chen","Manning Wang"],"abstract":"Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute outliers of all the other instances. Existing methods often rely on time-consuming hypothesis sampling or features leveraging spatial consistency, resulting in limited performance. In this paper, we propose PointCLM, a contrastive learning-based framework for mutli-instance point cloud registration. We first utilize contrastive learning to learn well-distributed deep representations for the input putative correspondences. Then based on these representations, we propose a outlier pruning strategy and a clustering strategy to efficiently remove outliers and assign the remaining correspondences to correct instances. Our method outperforms the state-of-the-art methods on both synthetic and real datasets by a large margin.","url_abs":"https://arxiv.org/abs/2209.00219v1","url_pdf":"https://arxiv.org/pdf/2209.00219v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"pointclm-a-contrastive-learning-based","repo_url":"https://github.com/phdymz/pointclm","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"contrastive-learning","task_name":"Contrastive Learning"},{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"}],"methods":[{"method_slug":"contrastive-learning","method_name":"Contrastive Learning"},{"method_slug":"pruning","method_name":"Pruning"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2209.00219","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2209.00219"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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