{"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/pointmbf-a-multi-scale-bidirectional-fusion","title":"PointMBF: A Multi-scale Bidirectional Fusion Network for Unsupervised RGB-D Point Cloud Registration","arxiv_id":"2308.04782","date":"2023-08-09","proceeding":"ICCV 2023 1","authors":["Mingzhi Yuan","Kexue Fu","Zhihao LI","Yucong Meng","Manning Wang"],"abstract":"Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised registration, which have limitations in practice. Recently, with the advance of inexpensive RGB-D sensors, several learning-based works utilize RGB-D data to achieve unsupervised registration. However, most of existing unsupervised methods follow a cascaded design or fuse RGB-D data in a unidirectional manner, which do not fully exploit the complementary information in the RGB-D data. To leverage the complementary information more effectively, we propose a network implementing multi-scale bidirectional fusion between RGB images and point clouds generated from depth images. By bidirectionally fusing visual and geometric features in multi-scales, more distinctive deep features for correspondence estimation can be obtained, making our registration more accurate. Extensive experiments on ScanNet and 3DMatch demonstrate that our method achieves new state-of-the-art performance. Code will be released at https://github.com/phdymz/PointMBF","url_abs":"https://arxiv.org/abs/2308.04782v1","url_pdf":"https://arxiv.org/pdf/2308.04782v1.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":"pointmbf-a-multi-scale-bidirectional-fusion","repo_url":"https://github.com/phdymz/pointmbf","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"}],"methods":[{"method_slug":"focus","method_name":"Focus"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2308.04782","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2308.04782"}},"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. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/phdymz/pointmbf","reach":{"status":"ok"}}],"summary":{"ran":11,"ran_fixture":1,"ran_violates":1,"unverified":5},"by_repo_kind":{"official":{"samples":18,"ran":13,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":18,"samples":[{"code_sha256_prefix":"9e0b951555ec102f","entry":"calculate_ratio_test","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/correspondence.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/correspondence.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"9e0b951555ec102f"}},{"code_sha256_prefix":"728888ce9772c062","entry":"closest_pool","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/block.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/block.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"728888ce9772c062"}},{"code_sha256_prefix":"52b7e4d933b2bb18","entry":"convert_layers","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/model_util.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/model_util.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"52b7e4d933b2bb18"}},{"code_sha256_prefix":"e821b86cfbfb4b82","entry":"dict_to_instances","repo":"phdymz/pointmbf","repo_kind":"official","path":"make_dataset/process_scannet.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/make_dataset/process_scannet.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"e821b86cfbfb4b82"}},{"code_sha256_prefix":"9754408b012a7640","entry":"exponential_alpha","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/renderer.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/renderer.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"9754408b012a7640"}},{"code_sha256_prefix":"06eb9b038422a6ef","entry":"gather","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/block.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/block.py","link_basis":"harvester_set","language":"python","status":"ran_fixture","verification_level":1,"contract_check":"RAISES","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"06eb9b038422a6ef"}},{"code_sha256_prefix":"a2ccaaf662ff614b","entry":"get_grid","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/model_util.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/model_util.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"a2ccaaf662ff614b"}},{"code_sha256_prefix":"96a2c828833829e2","entry":"get_topk_matches","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/correspondence.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/correspondence.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"96a2c828833829e2"}},{"code_sha256_prefix":"92c08730440b44bb","entry":"linear_alpha","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/renderer.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/renderer.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"92c08730440b44bb"}},{"code_sha256_prefix":"b8ec9326edb1790e","entry":"normalize_quaternion","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/alignment.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/alignment.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"b8ec9326edb1790e"}},{"code_sha256_prefix":"340f496a754d2a44","entry":"project_rgb","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/model.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/model.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"340f496a754d2a44"}},{"code_sha256_prefix":"706ffefd857a2f5f","entry":"quaternion_distance","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/alignment.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/alignment.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"706ffefd857a2f5f"}},{"code_sha256_prefix":"42f2cd40ba483d3b","entry":"radius_gaussian","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/block.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/block.py","link_basis":"harvester_set","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"42f2cd40ba483d3b"}},{"code_sha256_prefix":"1ee7182e52561f24","entry":"build_model","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/build_model.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/build_model.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"1ee7182e52561f24"}},{"code_sha256_prefix":"27eb4287b1e9c486","entry":"get_img","repo":"phdymz/pointmbf","repo_kind":"official","path":"make_dataset/process_scannet.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/make_dataset/process_scannet.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"27eb4287b1e9c486"}},{"code_sha256_prefix":"61c0b810858047e9","entry":"get_rgb_loss","repo":"phdymz/pointmbf","repo_kind":"official","path":"utils/losses.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/utils/losses.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"61c0b810858047e9"}},{"code_sha256_prefix":"a65378a84e85c43b","entry":"grid_to_pointcloud","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/model_util.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/model_util.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"a65378a84e85c43b"}},{"code_sha256_prefix":"e9857f544a5c3471","entry":"invert_quaternion","repo":"phdymz/pointmbf","repo_kind":"official","path":"models/alignment.py","file_url":"https://github.com/phdymz/pointmbf/blob/HEAD/models/alignment.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"e9857f544a5c3471"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}