Deep partial point cloud registration of objects

A system comprising:

• a non-transitory computer-readable storage medium;
• and
• one or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium comprises program instructions that, when executed on the one or more processors, cause the system to perform operations comprising:
• obtaining a first set of three-dimensional (3D) points corresponding to an object in a physical environment, the first set of 3D points having locations in a first coordinate system;
• obtaining a second set of 3D points corresponding to the object in the physical environment, the second set of 3D points having locations in a second coordinate system;
• predicting, via a machine learning model, locations of the first set of 3D points in the second coordinate system;
• and
• determining transform parameters relating the first set of 3D points and the second set of 3D points based on the predicted locations of the first set of 3D points in the second coordinate system.

A non-transitory computer-readable storage medium, storing program instructions executable on a device to perform operations comprising:

• obtaining a first set of three-dimensional (3D) points corresponding to an object in a physical environment, the first set of 3D points having locations in a first coordinate system;
• obtaining a second set of 3D points corresponding to the object in the physical environment, the second set of 3D points having locations in a second coordinate system;
• predicting, via a machine learning model, locations of the first set of 3D points in the second coordinate system;
• and
• determining transform parameters relating the first set of 3D points and the second set of 3D points based on the predicted locations of the first set of 3D points in the second coordinate system.