用视觉大模型提升点云配准，融合图像与几何信息

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D data into feature extraction. Although these methods achieve remarkable improvements, they have not fully exploited the abundant texture and semantic information in images, and the feature fusion is performed in an image-lossy manner, which limit their performance. In this paper, we propose DINOReg, a registration network that sufficiently utilizes both visual and geometric information to solve the point cloud registration problem. Inspired by advances in vision foundation models, we employ DINOv2 to extract informative visual features from images, and fuse visual and geometric features at the patch level. This design effectively combines the rich texture and global semantic information extracted by DINOv2 with the detailed geometric structure information captured by the geometric backbone. Additionally, a mixed positional embedding is proposed to encode positional information from both image space and point cloud space, which enhances the model's ability to perceive spatial relationships between patches. Extensive experiments on the RGBD-3DMatch and RGBD-3DLoMatch datasets demonstrate that our method achieves significant improvements over state-of-the-art geometry-only and multi-modal registration methods, with a 14.2% increase in patch inlier ratio and a 15.7% increase in registration recall. The code is publicly available at https://github.com/ccjccjccj/DINOReg.