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Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Functional registration algorithms represent point clouds as functions (e.g. spacial occupancy field) avoiding unreliable correspondence estimation in conventional least-squares registration algorithms. However, existing functional…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

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…

Detailed structural and species information on individual tree level is increasingly important to support precision forestry, biodiversity conservation, and provide reference data for biomass and carbon mapping. Point clouds from airborne…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

Creating accurate 3D models of tree topology is an important task for tree pruning. The 3D model is used to decide which branches to prune and then to execute the pruning cuts. Previous methods for creating 3D tree models have typically…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

Proximally-sensed laser scanning offers significant potential for automated forest data capture, but challenges remain in automatically identifying tree species without additional ground data. Deep learning (DL) shows promise for…

The performance of surface registration relies heavily on the metric used for the alignment error between the source and target shapes. Traditionally, such a metric is based on the point-to-point or point-to-plane distance from the points…

Understanding forest health is of great importance for the conservation of the integrity of forest ecosystems. In this regard, evaluating the amount and quality of dead wood is of utmost interest as they are favorable indicators of…

In sawmills, it is essential to accurately measure the raw material, i.e. wooden logs, to optimise the sawing process. Earlier studies have shown that accurate predictions of the inner structure of the logs can be obtained using just…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…