pseudo-code

# 瀹氫箟鍏ㄥ眬鍜屽眬閮ㄦ敞鍐屽嚱鏁?/span>
function register_point_clouds(point_clouds):
    for each point_cloud in point_clouds:
        global_registration(point_cloud)
        local_optimization(point_cloud)
    return registered_point_clouds

# 鍏ㄥ眬娉ㄥ唽
function global_registration(point_cloud):
    # 浣跨敤FPFH鐗瑰緛鎻忚堪绗﹀拰RANSAC绠楁硶杩涜鍏ㄥ眬娉ㄥ唽
    return transformed_point_cloud

# 灞€閮ㄤ紭鍖?/span>
function local_optimization(point_cloud):
    # 浣跨敤鐐?骞抽潰ICP绠楁硶杩涜灞€閮ㄤ紭鍖?/span>
    return optimized_point_cloud

# 瀹氫箟鐗瑰緛鎻愬彇鍑芥暟
function extract_features(registered_point_clouds):
    features = []
    for point_cloud in registered_point_clouds:
        coordinates = sample_coordinates(point_cloud)
        pointMAE_features = pointMAE_extractor(coordinates)
        features.append((coordinates, pointMAE_features))
    return features

# 鍧愭爣閲囨牱
function sample_coordinates(point_cloud):
    # 浣跨敤璐┆绠楁硶瀵圭偣浜戣繘琛屼笅閲囨牱
    return sampled_coordinates

# 浣跨敤PointMAE鎻愬彇鐗瑰緛
function pointMAE_extractor(coordinates):
    # 浣跨敤棰勮缁冪殑PointMAE妯″瀷鎻愬彇鐗瑰緛
    return extracted_features

# 瀹氫箟鎺ㄧ悊鍜屽紓甯稿垎鏁拌绠楀嚱鏁?/span>
function compute_anomaly_scores(features, test_point_cloud):
    memory_bank = construct_memory_bank(features)
    anomaly_scores = []
    for point in test_point_cloud:
        score = calculate_anomaly_score(memory_bank, point)
        anomaly_scores.append(score)
    return anomaly_scores

# 鏋勫缓璁板繂搴?/span>
function construct_memory_bank(features):
    # 灏嗗潗鏍囧拰PointMAE鐗瑰緛缁撳悎锛屽舰鎴愯蹇嗗簱
    return memory_bank

# 璁＄畻寮傚父鍒嗘暟
function calculate_anomaly_score(memory_bank, test_point):
    # 浣跨敤璁板繂搴撲腑鐨勬暟鎹绠楁祴璇曠偣鐨勫紓甯稿垎鏁?/span>
    return anomaly_score

# 涓绘祦绋?/span>
function main(train_point_clouds, test_point_cloud):
    registered_train = register_point_clouds(train_point_clouds)
    features = extract_features(registered_train)
    memory_bank = construct_memory_bank(features)
    anomaly_scores = compute_anomaly_scores(features, test_point_cloud)
    return anomaly_scores

3銆丒xperiments

馃悅馃悗銆傘€傘€?/p>

4銆丆onclusion

鎻愬嚭浜?鍩轰簬鍗曚釜璁板繂搴撶殑灞€閮?鍏ㄥ眬鐗瑰緛鏉ュ瓨鍌ㄨ緭鍏ョ偣浜戠殑澶氬昂搴︿俊鎭?/code> 鐨勬棤鐩戠潱鐐逛簯寮傚父妫€娴嬪櫒 PointCore