Related papers: Point Cloud Registration-Driven Robust Feature Mat…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

In this paper, we propose a novel on-line visual tracking framework based on the Siamese matching network and meta-learner network, which run at real-time speeds. Conventional deep convolutional feature-based discriminative visual tracking…

This work presents a new recursive robust filtering approach for feature-based 3D registration. Unlike the common state-of-the-art alignment algorithms, the proposed method has four advantages that have not yet occurred altogether in any…

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision. Unlike many existing works, we do not require manual annotation of matching point clusters.…

Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well…

Despite the success of deep functional maps in non-rigid 3D shape matching, there exists no learning framework that models both self-symmetry and shape matching simultaneously. This is despite the fact that errors due to symmetry mismatch…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

We present a novel non-iterative learnable method for partial-to-partial 3D shape registration. The partial alignment task is extremely complex, as it jointly tries to match between points and identify which points do not appear in the…

Siamese trackers based on 3D region proposal network (RPN) have shown remarkable success with deep Hough voting. However, using a single seed point feature as the cue for voting fails to produce high-quality 3D proposals. Additionally, the…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

There is a trend to fuse multi-modal information for 3D object detection (3OD). However, the challenging problems of low lightweightness, poor flexibility of plug-and-play, and inaccurate alignment of features are still not well-solved,…

Many multi-object tracking (MOT) methods follow the framework of "tracking by detection", which associates the target objects-of-interest based on the detection results. However, due to the separate models for detection and association, the…