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Point cloud registration is one of the fundamental tasks in computer vision, but faces challenges under low overlap conditions. Recent approaches use transformers and overlapping masks to improve perception, but mask learning only considers Euclidean distances between features, ignores mismatches caused by fuzzy geometric structures, and is often computationally inefficient. To address these issues, we introduce a novel matching framework. Firstly, we fuse adaptive graph convolution with PPF features to obtain rich feature perception. Subsequently, we construct a PGT framework that uses GeoTransformer and combines it with location information encoding to enhance the geometry perception between source and target clouds. In addition, we improve the visibility of overlapping regions through information exchange and the AIS module, aiming at subsequent keypoint extraction, preserving points with distinct geometrical structures while suppressing the influence of non-overlapping regions to improve computational efficiency. Finally, the mask is refined through contrast learning to preserve geometric and distance similarity, which helps to compute the transformation parameters more accurately. We have conducted comprehensive experiments on synthetic and real-world scene datasets, demonstrating superior registration performance compared to recent deep learning methods. Our approach shows remarkable improvements of 68.21% in R R M S E and 76.31% in t R M S E on synthetic data, while also excelling in real-world scenarios with enhancements of 76.46% in R R M S E and 45.16% in t R M S E . [ABSTRACT FROM AUTHOR]

1. Introduction Paraquat (PQ) is a nonselective contact herbicide, which is used world-widely for its high efficiency and low residues in the crops. It has been extensively demonstrated that it [...], Paraquat (PQ) has been demonstrated that the main target organ for the toxicity is the lung. This study aimed to investigate the potential protective effect of PDTC on the PQ-induced pulmonary damage. Fifty-four rats were divided into control, PQ- treated and PQ+PDTC-treated groups. Rats in the PQ group were administrated 40 mg/kg PQ by gastric gavage, and PDTC group with 40 mg/kg PQ followed by injection of 120 mg/kg PDTC (IP). On the days 3,7, 14 and 21 after treatments, the activities of GSH-Px, SOD, MDA level and the content of HYP were measured. TGF-β1 mRNA and protein were assayed by RT-PCR and ELISA. MDA level in plasma and BALF was increased and the activities of GSH-Px and SOD were decreased significantly in the PQ- treated groups (P < .05) compared with control group. While the activities of GSH-Px and SOD in the PQ+PDTC-treated groups was markedly higher than that of PQ-treated groups (P < .05), and in contrast, MDA level was lower. TGF-β1 mRNA and protein were significantly lower in the PQ+PDTC-treated groups than that of PQ-treated groups (P < .05). The histopathological changes in the PQ+PDTC-treated groups were milder than those of PQ groups. Our results suggested that PDTC treatment significantly attenuated paraquat-induced pulmonary damage. Copyright [C] 2009 Xiuli Chang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.