{"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/se3et-se-3-equivariant-transformer-for-low","title":"SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration","arxiv_id":"2407.16823","date":"2024-07-23","proceeding":null,"authors":["Chien Erh Lin","Minghan Zhu","Maani Ghaffari"],"abstract":"Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This work proposes exploiting equivariant learning from 3D point clouds to improve registration robustness. We propose SE3ET, an SE(3)-equivariant registration framework that employs equivariant point convolution and equivariant transformer designs to learn expressive and robust geometric features. We tested the proposed registration method on indoor and outdoor benchmarks where the point clouds are under arbitrary transformations and low overlapping ratios. We also provide generalization tests and run-time performance.","url_abs":"https://arxiv.org/abs/2407.16823v1","url_pdf":"https://arxiv.org/pdf/2407.16823v1.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"se3et-se-3-equivariant-transformer-for-low","repo_url":"https://github.com/UMich-CURLY/SE3ET","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2407.16823","atlas_url":"https://app.syntology.ai/?focus=2407.16823","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2407.16823"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+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/UMich-CURLY/SE3ET","reach":{"status":"ok"}}],"summary":{"ran_honours":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"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":1,"samples":[{"code_sha256_prefix":"f6b944f50d3f15ae","entry":"count_parameters","repo":"UMich-CURLY/SE3ET","repo_kind":"official","path":"experiments/se3ete2.3dmatch.evalrot/se3et.3dmatch.exp99/model.py","file_url":"https://github.com/UMich-CURLY/SE3ET/blob/HEAD/experiments/se3ete2.3dmatch.evalrot/se3et.3dmatch.exp99/model.py","link_basis":"harvester_set","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"f6b944f50d3f15ae"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}