Related papers: On Bundle Adjustment for Multiview PointCloud Regi…
How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
Multi-view detection incorporates multiple camera views to alleviate occlusion in crowded scenes, where the state-of-the-art approaches adopt homography transformations to project multi-view features to the ground plane. However, we find…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
The line is a prevalent element in man-made environments, inherently encoding spatial structural information, thus making it a more robust choice for feature representation in practical applications. Despite its apparent advantages,…
Current bundle adjustment solvers such as the Levenberg-Marquardt (LM) algorithm are limited by the bottleneck in solving the Reduced Camera System (RCS) whose dimension is proportional to the camera number. When the problem is scaled up,…
Point cloud alignment is a common problem in computer vision and robotics, with applications ranging from 3D object recognition to reconstruction. We propose a novel approach to the alignment problem that utilizes Bayesian nonparametrics to…
In medical imaging it is common practice to acquire a wide range of modalities (MRI, CT, PET, etc.), to highlight different structures or pathologies. As patient movement between scans or scanning session is unavoidable, registration is…
Estimating 3D human poses from 2D images remains challenging due to occlusions and projective ambiguity. Multi-view learning-based approaches mitigate these issues but often fail to generalize to real-world scenarios, as large-scale…
Various multi-modal imaging sensors are currently involved at different steps of an interventional therapeutic work-flow. Cone beam computed tomography (CBCT), computed tomography (CT) or Magnetic Resonance (MR) images thereby provides…
Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…
Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…
Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of…
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,…
Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…
Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…
Accurate multispectral image matching presents significant challenges due to non-linear intensity variations across spectral modalities, extreme viewpoint changes, and the scarcity of labeled datasets. Current state-of-the-art methods are…
Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…
Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in these settings due to…
X-ray imaging is a fundamental tool of routine clinical diagnosis. Fluoroscopic imaging can further acquire X-ray images at video frame rates, thus enabling non-invasive in-vivo motion studies of joints, gastrointestinal tract, etc. For…