Hg-I2P: Bridging Modalities for Generalizable Image-to-Point-Cloud Registration via Heterogeneous Graphs

Pei An, Junfeng Ding, Jiaqi Yang +3

Image-to-point-cloud (I2P) registration aims to align 2D images with 3D point clouds by establishing reliable 2D-3D correspondences. The drastic modality gap between images and poi…