Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood consensus based reliable inlier evaluation method for robust unsupervised point cloud registration. It is expected to capture the discriminative geometric difference between the source neighborhood and the corresponding pseudo target neighborhood for effective inlier distinction. Specifically, our model consists of a matching map refinement module and an inlier evaluation module. In our matching map refinement module, we improve the point-wise matching map estimation by integrating the matching scores of neighbors into it. The aggregated neighborhood information potentially facilitates the discriminative map construction so that high-quality correspondences can be provided for generating the pseudo target point cloud. Based on the observation that the outlier has the significant structure-wise difference between its source neighborhood and corresponding pseudo target neighborhood while this difference for inlier is small, the inlier evaluation module exploits this difference to score the inlier confidence for each estimated correspondence. In particular, we construct an effective graph representation for capturing this geometric difference between the neighborhoods. Finally, with the learned correspondences and the corresponding inlier confidence, we use the weighted SVD algorithm for transformation estimation.Under the unsupervised setting, we exploit the Huber function based global alignment loss, the local neighborhood consensus loss and spatial consistency loss for model optimization. The experimental results on extensive datasets demonstrate that our unsupervised point cloud registration method can yield comparable performance.

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Based on the accidental discovery, a linear-phase change energy storage material (PCESM) could be designed by encapsulating phase change materials with hollow fiber membranes (HFMs). Using HFM as a carrier for PCESM served two outstanding benefits. First, both the hollow portion and the membrane wall of the HFM can be utilized to encapsulate the phase change material, which is more advantageous than the other carrier materials. Second, as the HFM is a flexible fibrous polymer carrier, a flexible woven PCESM can be prepared, and hence, the characteristics that can be woven into a net expand the application range of this kind of PCESM. There are limited reports on polyvinylidene fluoride (PVDF) HFM as carriers for PCESM. In this work, PVDF HFM prepared via two different methods was employed as carriers to encapsulate paraffin. Hence, two different PCESMs were prepared, and the two materials were compared and characterized. The significance of this work is in enriching the carrier selection process for PCESM, and these findings can provide novel ideas for the design of future PCESM.

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