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This research introduces ID-MAE, a novel framework that adapts masked autoencoder techniques to solve the specific challenges of image-to-point cloud registration. By integrating reinforcement learning for adaptive masking and enforcing cross-modal consistency, the method effectively narrows the domain gap between 2D images and 3D point clouds without requiring detection priors. The approach demonstrates state-of-the-art performance on standard benchmarks, advancing the field of multimodal representation learning in computer vision.
Mask 2D-3D: Adaptive Dual-Masked Autoencoder Network for Image-to-Point Cloud Registration
arXiv:2609.18088v1 Announce Type: cross Abstract: Detection-free methods for image-to-point cloud registration are prone to erroneous correspondences caused by domain and modality discrepancies, limited sensitivity of feature extractors, and the presence of non-overlapping regions. The Masked Autoencoder (MAE) has shown strong performance in visual representation for images and point clouds. It may be helpful to apply this approach to image-to-point cloud registration, a task that requires unified feature extraction and accurate cross-modal correspondences. Standard MAE's random masking may overlook key regions due to limited camera views, reducing registration effectiveness. To address this, we propose the Intermodal Dual-MAE Framework (ID-MAE) with a Similarity-based RL Masking Strategy (SRLM), which adaptively masks informative positions by leveraging cross-modal similarity and reinforcement learning, thus narrowing the modality gap. Our method enhances cross-modal representation learning by enforcing representation consistency during feature extraction, thereby enabling more reliable 2D-3D correspondence estimation. Experiments on RGB-D Scenes v2 and 7-Scenes benchmarks show that our method achieves state-of-the-art performance in image-to-point cloud registration.
Abstract:Detection-free methods for image-to-point cloud registration are prone to erroneous correspondences caused by domain and modality discrepancies, limited sensitivity of feature extractors, and the presence of non-overlapping regions. The Masked Autoencoder (MAE) has shown strong performance in visual representation for images and point clouds. It may be helpful to apply this approach to image-to-point cloud registration, a task that requires unified feature extraction and accurate cross-modal correspondences. Standard MAE's random masking may overlook key regions due to limited camera views, reducing registration effectiveness. To address this, we propose the Intermodal Dual-MAE Framework (ID-MAE) with a Similarity-based RL Masking Strategy (SRLM), which adaptively masks informative positions by leveraging cross-modal similarity and reinforcement learning, thus narrowing the modality gap. Our method enhances cross-modal representation learning by enforcing representation consistency during feature extraction, thereby enabling more reliable 2D-3D correspondence estimation. Experiments on RGB-D Scenes v2 and 7-Scenes benchmarks show that our method achieves state-of-the-art performance in image-to-point cloud registration.
Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI)
arXiv:2609.18088 [cs.CV]
(or arXiv:2609.18088v1 [cs.CV] for this version)
https://doi.org/10.48550/arXiv.2609.18088 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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