Related papers: Diffeomorphic ICP Registration for Single and Mult…

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…

Registration is an essential tool in image analysis. Deep learning based alternatives have recently become popular, achieving competitive performance at a faster speed. However, many contemporary techniques are limited to volumetric…

We propose a fluid-based registration framework of medical images based on implicit neural representation. By integrating implicit neural representation and Large Deformable Diffeomorphic Metric Mapping (LDDMM), we employ a Multilayer…

Diffeomorphic registration using optimal control on the diffeomorphism group and on shape spaces has become widely used since the development of the Large Deformation Diffeomorphic Metric Mapping (LDDMM) algorithm. More recently, a series…

LiDAR-based localization and SLAM often rely on iterative matching algorithms, particularly the Iterative Closest Point (ICP) algorithm, to align sensor data with pre-existing maps or previous scans. However, ICP is prone to errors in…

In this paper, we propose an implementation of both Large Deformation Diffeomorphic Metric Mapping (LDDMM) and Metamorphosis image registration using a semi-Lagrangian scheme for geodesic shooting. We propose to solve both problems as an…

Point set registration is a key component in many computer vision tasks. The goal of point set registration is to assign correspondences between two sets of points and to recover the transformation that maps one point set to the other.…

Diffeomorphic image registration is crucial for various medical imaging applications because it can preserve the topology of the transformation. This study introduces DCCNN-LSTM-Reg, a learning framework that evolves dynamically and learns…

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a…

We introduce a deep encoder-decoder architecture for image deformation prediction from multimodal images. Specifically, we design an image-patch-based deep network that jointly (i) learns an image similarity measure and (ii) the…

Non-rigid registration is a crucial task with applications in medical imaging, industrial robotics, computer vision, and entertainment. Standard approaches accomplish this task using variations on the Non-Rigid Iterative Closest Point…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

Covariance estimation for the Iterative Closest Point (ICP) point cloud registration algorithm is essential for state estimation and sensor fusion purposes. We argue that a major source of error for ICP is in the input data itself, from the…

The fusion of Iterative Closest Point (ICP) reg- istrations in existing state estimation frameworks relies on an accurate estimation of their uncertainty. In this paper, we study the estimation of this uncertainty in the form of a…

Our work presents a new iterative scheme to approximate the fixed points of nonexpansive mapping. The proposed algorithm is constructed to enhance convergence efficiency while preserving theoretical robustness. Under appropriate assumptions…

ICP algorithms typically involve a fixed choice of data association method and a fixed choice of error metric. In this paper, we propose Hybrid ICP, a novel and flexible ICP variant which dynamically optimises both the data association…

Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light conditions. However, the performance of LiDAR odometry varies…

Odometry with lidar sensors is a state-of-the-art method to estimate the ego pose of a moving vehicle. Many implementations of lidar odometry use variants of the Iterative Closest Point (ICP) algorithm. Real-world effects such as dynamic…

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…