FS-I2P:A Hierarchical Focus-Sweep Registration Network with Dynamically Allocated Depth
Image-to-point cloud registration is often challenged by viewpoint changes, cross-modal discrepancies, and repetitive textures, which induce scale ambiguity and consequently lead to erroneous correspondences. Recent detection-free methods alleviate this issue by leveraging multi-scale features and transformer-based interactions. However, they still suffer from attention drift across layers and intra-scale inconsistencies, hindering precise registration. Inspired by human behavior, we propose a ``Focus--Sweep'' paradigm and develop a Hierarchical Focus--Sweep Interaction Module within an SSM-based framework to enhance multi-level cross-modal feature association. In addition, we introduce a...
| Authors | Zhixin Cheng, Yujia Chen, Xujing Tao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 May 2026 |
| Last updated at source | 25 May 2026 |
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