Related papers: Robust Extrinsic Symmetry Estimation in 3D Point C…

3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…

The point cloud based 3D single object tracking has drawn increasing attention. Although many breakthroughs have been achieved, we also reveal two severe issues. By extensive analysis, we find the prediction manner of current approaches is…

When registering point clouds resolved from an underlying 2-D pixel structure, such as those resulting from structured light and flash LiDAR sensors, or stereo reconstruction, it is expected that some points in one cloud do not have…

In this work, we propose a novel framework shape back-projection for computationally efficient point cloud processing in a probabilistic manner. The primary component of the technique is shape histogram and a back-projection procedure. The…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

Roof plane segmentation is one of the key procedures for reconstructing three-dimensional (3D) building models at levels of detail (LoD) 2 and 3 from airborne light detection and ranging (LiDAR) point clouds. The majority of current…

Symmetry is a strong prior present in many object categories, yet standard benchmarks for 3D generative models rarely report whether this prior is preserved. We study symmetry preservation in unconditional point cloud generation. We first…

Point cloud completion aims to recover the complete 3D shape of an object from partial observations. While approaches relying on synthetic shape priors achieved promising results in this domain, their applicability and generalizability to…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…

The paper proposes a light-weighted stereo frustums matching module for 3D objection detection. The proposed framework takes advantage of a high-performance 2D detector and a point cloud segmentation network to regress 3D bounding boxes for…

Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…

We present a novel method for reconstructing parametric, volumetric, multi-story building models from unstructured, unfiltered indoor point clouds by means of solving an integer linear optimization problem. Our approach overcomes…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Point-set registration is a classical image processing problem that looks for the optimal transformation between two sets of points. In this work, we analyze the impact of outliers when finding the optimal rotation between two point clouds.…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…