通过多域上下文融合提升点云配准精度与鲁棒性

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle to effectively capture the implicit semantics and structural consistency in point clouds. To address these issues, we propose a multi-domain context integration network (MCI-Net) that improves feature representation and registration performance by aggregating contextual cues from diverse domains. Specifically, we propose a graph neighborhood aggregation module, which constructs a global graph to capture the overall structural relationships within point clouds. We then propose a progressive context interaction module to enhance feature discriminability by performing intra-domain feature decoupling and inter-domain context interaction. Finally, we design a dynamic inlier selection method that optimizes inlier weights using residual information from multiple iterations of pose estimation, thereby improving the accuracy and robustness of registration. Extensive experiments on indoor RGB-D and outdoor LiDAR datasets show that the proposed MCI-Net significantly outperforms existing state-of-the-art methods, achieving the highest registration recall of 96.4\% on 3DMatch. Source code is available at http://www.linshuyuan.com.