The invention relates to a
point cloud registration model and method combining an attention mechanism and a three-dimensional graph convolutional network, and the model is a three-
branch Siamese architecture, and comprises a Dejector model and a Descriptor model. The
Detector model is used for extracting attention features of points and constructing an attention mechanism; the Descriptor model isused for generating an expression of a three-dimensional depth feature to represent the three-dimensional depth feature of the point, and learning and judging the depth feature of the
point cloud. Themethod comprises the following steps: carrying out model training, and constructing a
loss function to
train a model by using a failure align
triplet loss, so as to effectively extract attention features and descriptor features from a
point cloud; after model training, carrying out the point cloud registration. According to the method, the key points and the three-dimensional depth features of each key point can be automatically extracted, in the three-dimensional graph convolutional network, the multi-layer
perceptron MLP is combined with the graph convolutional network GCN, a new point cloud
feature extraction module is designed, more point cloud features with identification significance can be extracted, and the accuracy of point cloud registration is improved.