Supplementary Material for "SE(3) Diffusion Model-based Point Cloud Registration for Robust 6D Object Pose Estimation "

SE(3) diffusion model for point cloud registration can be derived as below. By inserting Eq. 5 into the variational lower bound 4, we can further rewrite the variational lower As demonstrated in our main paper, we utilize the Lie algebra for randomly sampling the desired perturbation transformation to randomize our SE(3) diffusion process. This innovative registration framework exhibits promising registration performance. Learning 6d object pose estimation using 3d object coordinates.