arXiv (OAI Expanded)
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Unsupervised Point Cloud Registration via Training-Time Semantic Guidance
Unsupervised registration of large-scale LiDAR point clouds remains challenging due to the geometric ambiguity inherent in outdoor scenes, which degrades pseudo-label quality and leads to suboptimal convergence, particularly for sparse, low-resolution scans such as those from nuScenes. We reveal tha
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