Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: DeepUME: Learning the Universal Manifold Embedding for Robust Point
  Cloud Registration   Registration of point clouds related by rigid transformations is one of the
fundamental problems in computer vision. However, a solution to the practical
scenario of aligning sparsely and differently sampled observations in the
presence of noise is still lacking. We approach registration in this scenario
with a fusion of the closed-form Universal Mani-fold Embedding (UME) method and
a deep neural network. The two are combined into a single unified framework,
named DeepUME, trained end-to-end and in an unsupervised manner. To
successfully provide a global solution in the presence of large
transformations, we employ an SO(3)-invariant coordinate system to learn both a
joint-resampling strategy of the point clouds and SO(3)-invariant features.
These features are then utilized by the geometric UME method for transformation
estimation. The parameters of DeepUME are optimized using a metric designed to
overcome an ambiguity problem emerging in the registration of symmetric shapes,
when noisy scenarios are considered. We show that our hybrid method outperforms
state-of-the-art registration methods in various scenarios, and generalizes
well to unseen data sets. Our code is publicly available.

17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
34
The categories of this paper are: chem-ph
20
The categories of this paper are: acc-phys
0
The categories of this paper are: hep-ph
5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
26
The categories of this paper are: bayes-an
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
14
The categories of this paper are: math-ph
22
The categories of this paper are: chao-dyn
29
The categories of this paper are: funct-an
21
The categories of this paper are: adap-org
3
The categories of this paper are: physics