OCA: ODE-Driven Cross-Attention for Image-to-Point-Cloud Registration

arXiv:2609.36644 · cs.CV · Submitted 2026-09-29 · Read on arXiv

cs.CV

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/anpei96/oca-i2p-demo

Terminology

Point Clouds — 13× in this paper · explained in 2 episodes
Fine-Tuning — 11× in this paper · explained in 5 episodes
Registration Recall — 11× in this paper
Inlier Ratio — 8× in this paper
Ablation — 7× in this paper · explained in 1 episode
Sparsity — 7× in this paper · explained in 4 episodes
Transformer — 7× in this paper · explained in 2 episodes
Accuracy — 6× in this paper · explained in 1 episode
Generalization — 6× in this paper · explained in 13 episodes
Alignment — 4× in this paper · explained in 1 episode
Attention Mechanism — 3× in this paper · explained in 2 episodes
Benchmark — 3× in this paper · explained in 2 episodes
Core — 3× in this paper · explained in 2 episodes
Cross-Attention Mechanism — 3× in this paper · explained in 2 episodes
Flow Matching — 3× in this paper · explained in 8 episodes
Modality Gap — 3× in this paper · explained in 4 episodes
Two-stage training — 3× in this paper · explained in 2 episodes
Ablation study — 2× in this paper · explained in 1 episode
Foundation Model — 2× in this paper · explained in 3 episodes
Foundation Models — 2× in this paper · explained in 7 episodes
Ordinary Differential Equations (ODEs) — 2× in this paper · explained in 2 episodes
Pruning — 2× in this paper · explained in 4 episodes
Robustness — 2× in this paper · explained in 5 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Adam — 1× in this paper · explained in 2 episodes
Calibration — 1× in this paper · explained in 7 episodes
Consistency — 1× in this paper · explained in 3 episodes
D Segmentation Anything Model — 1× in this paper
Diffusion Model — 1× in this paper · explained in 8 episodes
Feature Extraction — 1× in this paper · explained in 2 episodes
Gaussian Splatting — 1× in this paper · explained in 4 episodes
Generalizability — 1× in this paper · explained in 6 episodes
Generative Modeling — 1× in this paper · explained in 3 episodes
Iterative Refinement — 1× in this paper · explained in 3 episodes
Representation Learning — 1× in this paper · explained in 2 episodes
Semantic Alignment — 1× in this paper · explained in 3 episodes
Two-Stage Training Strategy — 1× in this paper · explained in 3 episodes
Verification — 1× in this paper · explained in 2 episodes

Terminology

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