  We propose a method for speeding up a 3D point cloud registration through a
cascading feature extraction. The current approach with the highest accuracy is
realized by iteratively executing feature extraction and registration using
deep features. However, iterative feature extraction takes time. Our proposed
method significantly reduces the computational cost using cascading shallow
layers. Our idea is to omit redundant computations that do not always
contribute to the final accuracy. The proposed approach is approximately three
times faster than the existing methods without a loss of accuracy.
