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Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

3D building models with facade details are playing an important role in many applications now. Classifying point clouds at facade-level is key to create such digital replicas of the real world. However, few studies have focused on such…

Point clouds registration is a fundamental step of many point clouds processing pipelines; however, most algorithms are tested on data that are collected ad-hoc and not shared with the research community. These data often cover only a very…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

Recently, 3D point cloud classification has made significant progress with the help of many datasets. However, these datasets do not reflect the incomplete nature of real-world point clouds caused by occlusion, which limits the practical…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize the geometric structure information in point feature embedding or outlier rejection for registration while neglecting to…

This paper introduces Point-GN, a novel non-parametric network for efficient and accurate 3D point cloud classification. Unlike conventional deep learning models that rely on a large number of trainable parameters, Point-GN leverages…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

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…

Registration methods for point clouds have become a key component of many SLAM systems on autonomous vehicles. However, an accurate estimate of the uncertainty of such registration is a key requirement to a consistent fusion of this kind of…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…