Related papers: Registration is a Powerful Rotation-Invariance Lea…

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…

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…

Cross-category anomaly detection for 3D point clouds aims to determine whether an unseen object belongs to a target category using only a few normal examples. Most existing methods rely on category-specific training, which limits their…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

3D object recognition has successfully become an appealing research topic in the real-world. However, most existing recognition models unreasonably assume that the categories of 3D objects cannot change over time in the real-world. This…

3D point-cloud recognition with PointNet and its variants has received remarkable progress. A missing ingredient, however, is the ability to automatically evaluate point-wise importance w.r.t.\! classification performance, which is usually…

Point cloud registration is a classical topic in the field of 3D Vision and Computer Graphics. Generally, the implementation of registration is typically sensitive to similarity transformations (translation, scaling, and rotation), noisy…

Rotation search and point cloud registration are two fundamental problems in robotics and computer vision, which aim to estimate the rotation and the transformation between the 3D vector sets and point clouds, respectively. Due to the…

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation,…

In recent years, point cloud normal estimation, as a classical and foundational algorithm, has garnered extensive attention in the field of 3D geometric processing. Despite the remarkable performance achieved by current Neural Network-based…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

Point cloud registration aims at estimating the geometric transformation between two point cloud scans, in which point-wise correspondence estimation is the key to its success. In addition to previous methods that seek correspondences by…

Unsafe surgical care is a critical health concern, often linked to limitations in surgeon experience, skills, and situational awareness. Integrating patient-specific 3D models into the surgical field can enhance visualization, provide…

We present PPF-FoldNet for unsupervised learning of 3D local descriptors on pure point cloud geometry. Based on the folding-based auto-encoding of well known point pair features, PPF-FoldNet offers many desirable properties: it necessitates…

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.…