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Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

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 a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

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 digitalization of society is rapidly developing toward the realization of the digital twin and metaverse. In particular, point clouds are attracting attention as a media format for 3D space. Point cloud data is contaminated with noise…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

We study the problem of extracting correspondences between a pair of point clouds for registration. For correspondence retrieval, existing works benefit from matching sparse keypoints detected from dense points but usually struggle to…

For nonrigid image registration, matching the particular structures (or the outliers) that have missing correspondence and/or local large deformations, can be more difficult than matching the common structures with small deformations in the…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

In this paper, we introduce a new outlier removal method that fully leverages geometric and semantic information, to achieve robust registration. Current semantic-based registration methods only use semantics for point-to-point or instance…

Registering an object shape to a sequence of point clouds undergoing non-rigid deformation is a long-standing challenge. The key difficulties stem from two factors: (i) the presence of local minima due to the non-convexity of registration…