DeSC: Learning Deep Semantic Descriptor for NeRF Registration.

NeRF registration has gained increasing attention recently. While existing research demonstrates considerable potential for this task, most methods primarily focus on either global geometric or rendering photometric information during feature learning, overlooking the rich cross-modal information inherent in the NeRF embedding feature space. In this paper, we propose DeSC, a novel NeRF registration approach that leverages the rich cross-modal features from NeRF to learn robust semantic descriptors. In particular, we propose a Deep Semantic Aggregation module, which employs a weighted graph convolution network to capture high-frequency texture details in NeRF patches. This approach reveals the underlying semantics shared across different NeRFs of the same scene, thereby yielding more robust global feature descriptors that lead to better alignment accuracy and robustness. In addition, we design a density-aware photometric consistency loss that facilitates the learning of robust features. Extensive experimental results on Objaverse datasets demonstrate that our approach produces superior registration performance to state-of-the-art techniques.