Angle-I2P: Angle-Consistent-Aware Hierarchical Attention for Cross-Modality Outlier Rejection

ArXi:2605.04541v1 Announce Type: new Image-to-point-cloud registration (I2P) is a fundamental task in robotic applications such as manipulation,grasping, and localization. Existing deep learning-based I2P methods seek to align image and point cloud features in a learned representation space to establish correspondences, and have achieved promising results. However, when the inlier ratio of the initial matching pairs is low, conventional Perspective-n-Points (PnP) methods may struggle to achieve accurate results.