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Neighborhood Normalization for Robust Geometric Feature Learning

This codebase implements the method described in the paper:

Neighborhood Normalization for Robust Geometric Feature Learning

Xingtong Liu*, Benjamin D. Killeen*, Ayushi Sinha, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath

In 2021 Conference on Computer Vision and Pattern Recognition (CVPR)

Please contact Xingtong Liu (xingtongliu@jhu.edu) or Mathias Unberath (unberath@jhu.edu) if you have any questions.

Dependencies

MinkowskiEngine(0.5.4 tested), PyTorch(1.7.1 tested), open3d(0.9.0 tested), pyvista, pyacvd, tensorboardX, MulticoreTSNE, umap-learn, torch-geometric, pycuda, scikit-image, scikit-learn, opencv-python, scipy, psutil, tqdm, pathlib, numpy

Datasets

3DMatch

  1. Download original dataset using this script.
  2. Download information of pairs with scene overlap here. Note the train/val/test split provided here is the one used in this work.
  3. Generate mesh dataset using scripts/generate_3dmatch_mesh.py. One example is /path/to/python /path/to/generate_3dmatch_mesh.py --data_root /path/to/3dmatch/original/dataset --output_root /path/to/3dmatch/mesh/output
  4. Split the generated mesh dataset in step 3 in the same way as the pair information in step 2. Store these two types of data in the same folder. Because temporary data will be generated during network training, at least 100 GB storage space is required for this dataset.
  5. For evaluation on the standard benchmark, download the test point cloud dataset here.
  6. For evaluation on the resolution mismatch benchmark, use the mesh data in the test split generated in step 3. Before evaluation, copy the *-evaluation folders downloaded in step 5 to the test split generated in step 3.

KITTI

  1. Download velodyne dataset from this link. 85 GB storage space is needed.
  2. train/val/test split has been specified in the dataset class KITTIPairDataset in datasets/kitti_dataset.py and no further operations are needed.

Nasal Cavity

  1. Download dataset for network training and evluation here . Data inside low_resolution folder is used for computation efficiency reason.
  2. The 52 head CT scans from several public datasets and the corresponding statistical shape models are provided here . Note this is not needed for this work and we provide it for other potential research topics.
  3. For experiments in this work, train/val/test split on this dataset simply use different range of PCA mode weights.

Network Training

  1. train_3dmatch.py is for training a 3D geometric descriptor on the 3DMatch dataset. One example to run this script is /path/to/python /path/to/train_3dmatch.py --config_path /path/to/config/file. Example config files are provided in the scripts folder. To train a network for the standard benchmark (fixed resolution), one example config file is train_3dmatch_standard.json. To train a network with Batch-Neighborhood Normalization ( B-NHN) for the resolution mismatch benchmark, the example config file is train_3dmatch_mismatch_bnhn.json. To train with Neighborhood Normalization (NHN), one example config file is train_3dmatch_nhn.json. For the two-stage training strategy mentioned in the paper, a network should first be trained with train_3dmatch_nhn.json until convergence. Then it should be trained with train_3dmatch_mismatch_nhn_to_bnhn.json to adjust the weights of B-NHNs.
  2. train_kitti.py is for training a 3D geometric descriptor on the KITTI dataset. One example to run this script is /path/to/python /path/to/train_kitti.py --config_path /path/to/config/file. The example config files for the standard and resolution mismatch benchmarks are train_kitti_standard.json and train_kitti_mismatch.json, respectively.
  3. train_nasal.py is for training a 3D geometric descriptor on the Nasal Cavity dataset. One example to run this script is /path/to/python /path/to/train_nasal.py --config_path /path/to/config/file. The example config file for the resolution mismatch benchmark is train_nasal_mismatch.json.

Evaluation

  1. evaluation/evaluation_3dmatch.py is to evaluate Feature Match Recall (FMR) on the 3DMatch dataset. One example to run this script is /path/to/python /path/to/evaluation_3dmatch.py --config_path /path/to/config/file. Example config files for the standard and resolution mismatch benchmarks are eval_3dmatch_standard.json amd eval_3dmatch_mismatch.json, respectively.

  2. evaluation/evaluation_kitti_standard.py is to evaluate FMR and Registration Error on the standard benchmark of KITTI dataset. One example to run this script is /path/to/python /path/to/evaluation_kitti_standard.py --config_path /path/to/config/file. One example config file is eval_kitti_standard.json.

  3. evaluation/evaluation_kitti_mismatch.py is to evaluate FMR on the resolution mismatch benchmark of KITTI dataset. One example to run this script is /path/to/python /path/to/evaluation_kitti_mismatch.py --config_path /path/to/config/file. One example config file is eval_kitti_mismatch.json.

  4. evaluation/evaluation_nasal.py is to evaluate FMR on the resolution mismatch benchmark of Nasal Cavity dataset. One example to run this script is /path/to/python /path/to/evaluation_nasal.py --config_path /path/to/config/file. One example config file is eval_nasal_mismatch.json.

Pre-trained Models

We provide pre-trained models with Batch-Neighborhood Normalization on the datasets used in this work. net_norm_type and net_upsample_type in the config files corresponds to the two terms separated by + below. These models produced experiment results reported in the paper for the B-NHN normalization type.

Benchmark / Dataset 3DMatch KITTI Nasal Cavity
Standard B-NHN + Transpose B-NHN + Pool N/A
Resolution mismatch B-NHN + Pool B-NHN + Pool B-NHN + Pool

Visualization

Here we present feature embeddings of several sample pairs from the three datasets with resolution mismatch. Features are reduced to 3-dimension for color display using UMAP.

3DMatch

KITTI

Nasal Cavity

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