This paper introduces GRIP, a pose-conditioned refinement framework for pixel-to-point matching and 2D to 3D registration. Given an initial coarse pose estimate, GRIP addresses the structural mismatch between grid based image descriptors and unordered point cloud descriptors by softly rendering learned 3D point features onto the image grid through Gaussian feature splatting. The rendered point derived feature map is then fused with image features by a pixel aligned transformer, enabling visual semantic and geometric cues to interact in a shared 2D representation. The refined features are decoded and propagated to finer resolutions for dense correspondence estimation and final pose refinement. Experiments on RGB D Scenes V2 and 7 Scenes demonstrate state of the art inlier ratio and competitive registration recall, with stronger performance under stricter evaluation thresholds.

翻译：暂无翻译