Adaptive Multi-scale 3D Point Cloud Registration Network for Autonomous Driving

WANG Lin; HAN Dong; HAN Jinyi; CHEN Shengmei; LIU Cheng

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Adaptive Multi-scale 3D Point Cloud Registration Network for Autonomous Driving

更新时间：2026-06-19

- Adaptive Multi-scale 3D Point Cloud Registration Network for Autonomous Driving
- JOURNAL OF XI’AN JIAOTONG UNIVERSITY (2026)
- 作者机构：
  
  西北大学电子信息学院，710127，西安
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP29
- Received：21 April 2026，
  
  Revised：2026-06-17，
  
  Accepted：19 June 2026，
- 稿件说明：
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WANG Lin, HAN Dong, HAN Jinyi, et al. Adaptive Multi-scale 3D Point Cloud Registration Network for Autonomous Driving[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026.
DOI：

WANG Lin, HAN Dong, HAN Jinyi, et al. Adaptive Multi-scale 3D Point Cloud Registration Network for Autonomous Driving[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026. DOI：

摘要

针对智能驾驶场景中激光雷达点云稀疏、特征模糊以及低重叠引发关键点误匹配的问题，提出了一种面向智能驾驶的自适应多尺度三维点云配准网络。首先，该网络利用自适应多尺度特征提取模块获取采样点的多层级特征，并结合自适应邻域稳定器实现关键点的精确定位，从而解决由于特征模糊而导致的匹配难题。其次，通过融合多尺度特征匹配一致性与几何一致性校验，提升待配准点对的内点置信度。最后，基于该置信度，采用由粗到精的迭代优化策略，完成三维点云的精确配准。KITTI数据集上的测试结果表明：该网络的相对平移误差和相对旋转误差分别低至0.0618 m和0.21°，配准召回率高达99.8%。nuScenes数据集上的测试结果表明：在帧间距离分别为10、20、30 m下，配准召回率分别达到90.1%、83.3%和78.8%。上述结果验证了该网络能够有效抑制复杂道路场景下的误匹配，实现高精度、高鲁棒性的大规模三维点云配准。该研究适配了动态复杂路况下的实际应用需求，为自动驾驶场景下的精准定位、环境感知提供可靠的技术支撑。

Abstract

To address the problems of sparse LiDAR point clouds

ambiguous features

and mismatches of keypoints caused by low overlap in intelligent driving scenarios

this paper proposes an adaptive multi-scale 3D point cloud registration network for intelligent driving. First

the network employs an adaptive multi-scale feature extraction module to obtain multi-level features of sampled points

combined with an adaptive neighborhood stabilizer for precise keypoint localization

thereby resolving matching difficulties caused by feature ambiguity. Second

by integrating multi-scale feature matching consistency with geometric consistency verification

the inlier confidence of point pairs to be registered is improved. Finally

based on this confidence

a coarse-to-fine iterative optimization strategy is adopted to achieve accurate 3D point cloud registration. Test results on the KITTI dataset demonstrate that the network achieves a relative translation error as low as 0.0618 m and a relative rotation error as low as 0.21°

with a registration recall of up to 99.8%. Results on the nuScenes dataset indicate that with inter-frame distances of 10 m

20 m

and 30 m

the registration recall reaches 90.1%

83.3%

and 78.8%

respectively. These findings validate that the proposed network effectively suppresses mismatches in complex road scenarios

achieving high-precision and highly robust large-scale 3D point cloud registration. This research meets the practical application requirements of dynamic and complex traffic conditions

providing reliable technical support for precise localization and environmental perception in autonomous driving scenarios.

关键词

Keywords

references

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