Related papers: PosDiffNet: Positional Neural Diffusion for Point …

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

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…

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…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved the…

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…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

In this paper, we introduce an SE(3) diffusion model-based point cloud registration framework for 6D object pose estimation in real-world scenarios. Our approach formulates the 3D registration task as a denoising diffusion process, which…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

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 video representation learning is challenging due to complex structures and unordered spatial arrangement. Traditional methods struggle with frame-to-frame correlations and point-wise correspondence tracking. Recently, partial…

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation,…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…