As an important technology in 3D vision, point-cloud registration has broad development prospects in the fields of space-based remote sensing, photogrammetry, robotics, and so on. Of the available algorithms, the Iterative Closest Point (ICP) algorithm has been used as the classic algorithm for solving point cloud registration. However, with the point cloud data being under the influence of noise, outliers, overlapping values, and other issues, the performance of the ICP algorithm will be affected to varying degrees. This paper proposes a global structure and adaptive weight aware ICP algorithm (GSAW-ICP) for image registration. Specifically, we first proposed a global structure mathematical model based on the reconstruction of local surfaces using both the rotation of normal vectors and the change in curvature, so as to better describe the deformation of the object. The model was optimized for the convergence strategy, so that it had a wider convergence domain and a better convergence effect than either of the original point-to-point or point-to-point constrained models. Secondly, for outliers and overlapping values, the GSAW-ICP algorithm was able to assign appropriate weights, so as to optimize both the noise and outlier interference of the overall system. Our proposed algorithm was extensively tested on noisy, anomalous, and real datasets, and the proposed method was proven to have a better performance than other state-of-the-art algorithms.

Multiclass geospatial object detection in high-spatial-resolution remote-sensing images (HSRIs) has recently attracted considerable attention in many remote-sensing applications as a fundamental task. However, the complexity and uncertainty of spatial distribution among multiclass geospatial objects are still huge challenges for object detection in HSRIs. Most current remote-sensing object-detection approaches fall back on deep convolutional neural networks (CNNs). Nevertheless, most existing methods only focus on mining visual characteristics and lose sight of spatial or semantic relation discriminations, eventually degrading object-detection performance in HSRIs. To tackle these challenges, we propose a novel hybrid attention-driven multistream hierarchical graph embedding network (HA-MHGEN) to explore complementary spatial and semantic patterns for improving remote-sensing object-detection performance. Specifically, we first constructed hierarchical spatial graphs for multiscale spatial relation representation. Then, semantic graphs were also constructed by integrating them with the word embedding of object category labels on graph nodes. Afterwards, we developed a self-attention-aware multiscale graph convolutional network (GCN) to derive stronger for intra- and interobject hierarchical spatial relations and contextual semantic relations, respectively. These two relation networks were followed by a novel cross-attention-driven spatial- and semantic-feature fusion module that utilizes a multihead attention mechanism to learn associations between diverse spatial and semantic correlations, and guide them to endowing a more powerful discrimination ability. With the collaborative learning of the three relation networks, the proposed HA-MHGEN enables grasping explicit and implicit relations from spatial and semantic patterns, and boosts multiclass object-detection performance in HRSIs. Comprehensive and extensive experimental evaluation results on three benchmarks, namely, DOTA, DIOR, and NWPU VHR-10, demonstrate the effectiveness and superiority of our proposed method compared with that of other advanced remote-sensing object-detection methods.