2D3D-MatchNet: Learning to Match Keypoints Across 2D Image and 3D Point Cloud
整體網絡架構是這樣： 基本上是堆積起來的網絡，一共三條分支 1:image 2d feature 提取 2:正樣本point cloud pointnet feature提取，3：負樣本point cloud pointnet feature 提取 ，最後直接soft-margin triplet loss。 2d輸入的是image 的patches， 3d輸入的是volume。 2d使用
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