Related papers: CoBigICP: Robust and Precise Point Set Registratio…
Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, short-term environmental changes, occurring over days or weeks,…
The mainstream researche in deep metric learning can be divided into two genres: proxy-based and pair-based methods. Proxy-based methods have attracted extensive attention due to the lower training complexity and fast network convergence.…
Robust matrix completion aims to recover a low-rank matrix from a subset of noisy entries perturbed by complex noises, where traditional methods for matrix completion may perform poorly due to utilizing $l_2$ error norm in optimization. In…
Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…
We present a new fully-automatic non-rigid 3D shape registration (morphing) framework comprising (1) a new 3D landmarking and pose normalisation method; (2) an adaptive shape template method to accelerate the convergence of registration…
Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…
Correntropy is a local similarity measure defined in kernel space and the maximum correntropy criterion (MCC) has been successfully applied in many areas of signal processing and machine learning in recent years. The kernel function in…
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…
In the context of 3D mapping, larger and larger point clouds are acquired with LIDAR sensors. The Iterative Closest Point (ICP) algorithm is used to align these point clouds. However, its complexity is directly dependent of the number of…
Tracking objects in 3D space and predicting their 6DoF pose is an essential task in computer vision. State-of-the-art approaches often rely on object texture to tackle this problem. However, while they achieve impressive results, many…
The Composed Image Retrieval (CIR) task provides a flexible retrieval paradigm via a reference image and modification text, but it heavily relies on expensive and error-prone triplet annotations. This paper systematically investigates the…
The Continuous p-Dispersion Problem (CpDP) with boundary constraints asks for the placement of a fixed number of points in a compact subset of Euclidean space such that the minimum distance between any two points, as well as the points and…
Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…
In mixture models, anisotropic noise within each cluster is widely present in real-world data. This work investigates both computationally efficient procedures and fundamental statistical limits for clustering in high-dimensional…
Statistical shape models are a useful tool in image processing and computer vision. A Procrustres registration of the contours of the same shape is typically perform to align the training samples to learn the statistical shape model. A…
Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…
For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…
Inductive Conformal Prediction (ICP) is a set of distribution-free and model agnostic algorithms devised to predict with a user-defined confidence with coverage guarantee. Instead of having point predictions, i.e., a real number in the case…
Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…
Motivated by the intuition that the critical step of localizing a 2D image in the corresponding 3D point cloud is establishing 2D-3D correspondence between them, we propose the first feature-based dense correspondence framework for…