In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space representation. We show that such local cross-domain descriptors in the shared embedding are more discriminative than those obtained from individual training in 2D and 3D domains. To facilitate the training process, we built a new dataset by collecting ≈ 1.4 millions of 2D-3D correspondences with various lighting conditions and settings from publicly available RGB-D scenes. Our descriptor is evaluated in three main experiments: 2D-3D matching, cross-domain retrieval, and sparse-to-dense depth estimation. Experimental results confirm the robustness of our approach as well as its competitive performance not only in solving cross-domain tasks but also in being able to generalize to solve sole 2D and 3D tasks. Our dataset and code are released publicly at https://hkust-vgd.github.io/lcd.
Published Date: 2020-06-02
Registration: ISSN 2374-3468 (Online) ISSN 2159-5399 (Print) ISBN 978-1-57735-835-0 (10 issue set)
Copyright: Published by AAAI Press, Palo Alto, California USA Copyright © 2020, Association for the Advancement of Artificial Intelligence All Rights Reserved