Related papers: HybridReg: Robust 3D Point Cloud Registration with…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

We present Lepard, a Learning based approach for partial point cloud matching in rigid and deformable scenes. The key characteristics are the following techniques that exploit 3D positional knowledge for point cloud matching: 1) An…

Roof plane segmentation is one of the key procedures for reconstructing three-dimensional (3D) building models at levels of detail (LoD) 2 and 3 from airborne light detection and ranging (LiDAR) point clouds. The majority of current…

Soft-tissue deformation remains a major limitation in image-guided neurosurgery, where intra-operative anatomy can deviate substantially from pre-operative imaging due to brain shift, compromising navigation accuracy and surgical safety.…

Existing 3D multi-object tracking (MOT) methods often sacrifice efficiency and generalizability for robustness, largely relying on complex association metrics derived from multi-modal architectures and class-specific motion priors.…

Knowledge of 3D properties of objects is a necessity in order to build effective computer vision systems. However, lack of large scale 3D datasets can be a major constraint for data-driven approaches in learning such properties. We consider…

Learning non-rigid registration in an end-to-end manner is challenging due to the inherent high degrees of freedom and the lack of labeled training data. In this paper, we resolve these two challenges simultaneously. First, we propose to…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

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…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

Registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. To improve the accuracy…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

In this work, we study 3D object detection from RGB-D data in both indoor and outdoor scenes. While previous methods focus on images or 3D voxels, often obscuring natural 3D patterns and invariances of 3D data, we directly operate on raw…

Accurate deformable 4-dimensional (4D) (3-dimensional in space and time) medical images registration is essential in a variety of medical applications. Deep learning-based methods have recently gained popularity in this area for the…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Deep point cloud registration methods face challenges to partial overlaps and rely on labeled data. To address these issues, we propose UDPReg, an unsupervised deep probabilistic registration framework for point clouds with partial…