Related papers: PKSS-Align: Robust Point Cloud Registration on Pre…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Point cloud upsampling is to densify a sparse point set acquired from 3D sensors, providing a denser representation for the underlying surface. Existing methods divide the input points into small patches and upsample each patch separately,…

In robotics perception, numerous tasks rely on point cloud registration. However, currently there is no method that can automatically detect misaligned point clouds reliably and without environment-specific parameters. We propose "CorAl",…

3D point cloud registration is a fundamental problem in computer vision, computer graphics, robotics, remote sensing, and etc. Over the last thirty years, we have witnessed the amazing advancement in this area with numerous kinds of…

We introduce Point-LN, a novel lightweight framework engineered for efficient 3D point cloud classification. Point-LN integrates essential non-parametric components-such as Farthest Point Sampling (FPS), k-Nearest Neighbors (k-NN), and…

In this work, we propose a novel framework shape back-projection for computationally efficient point cloud processing in a probabilistic manner. The primary component of the technique is shape histogram and a back-projection procedure. The…

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…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

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…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Geometric model fitting is a fundamental task in computer graphics and computer vision. However, most geometric model fitting methods are unable to fit an arbitrary geometric model (e.g. a surface with holes) to incomplete data, due to that…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

Commercial off the shelf (COTS) 3D scanners are capable of generating point clouds covering visible portions of a face with sub-millimeter accuracy at close range, but lack the coverage and specialized anatomic registration provided by more…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

The rapid growth of 3D point cloud data, driven by applications in autonomous driving, robotics, and immersive environments, has led to criticals demand for efficient compression and quality assessment techniques. Unlike traditional 2D…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

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.…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

The precision of unsupervised point cloud registration methods is typically limited by the lack of reliable inlier estimation and self-supervised signal, especially in partially overlapping scenarios. In this paper, we propose an effective…