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3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…
Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…
Geometric feature extraction is a crucial component of point cloud registration pipelines. Recent work has demonstrated how supervised learning can be leveraged to learn better and more compact 3D features. However, those approaches'…
This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…
As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…
Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…
This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions in a reproducing kernel Hilbert space (RKHS), leveraging…
We present an iterative overlap estimation technique to augment existing point cloud registration algorithms that can achieve high performance in difficult real-world situations where large pose displacement and non-overlapping geometry…
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…
Recent research leveraging large-scale pretrained diffusion models has demonstrated the potential of using diffusion features to establish semantic correspondences in images. Inspired by advancements in diffusion-based techniques, we…
In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…
Outdoor LiDAR point cloud 3D instance segmentation is a crucial task in autonomous driving. However, it requires laborious human efforts to annotate the point cloud for training a segmentation model. To address this challenge, we propose a…
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…
Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…
Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…
Unsupervised learning on 3D point clouds has undergone a rapid evolution, especially thanks to data augmentation-based contrastive methods. However, data augmentation is not ideal as it requires a careful selection of the type of…
We present a new method for real-time non-rigid dense correspondence between point clouds based on structured shape construction. Our method, termed Deep Point Correspondence (DPC), requires a fraction of the training data compared to…
Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…
Diffusion models have shown the great potential in the point cloud registration (PCR) task, especially for enhancing the robustness to challenging cases. However, existing diffusion-based PCR methods primarily focus on instance-level…
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…