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Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

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…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

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…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

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. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Event cameras have emerged as a promising vision sensor in recent years due to their unparalleled temporal resolution and dynamic range. While registration of 2D RGB images to 3D point clouds is a long-standing problem in computer vision,…

Much progress has been made on the task of learning-based 3D point cloud registration, with existing methods yielding outstanding results on standard benchmarks, such as ModelNet40, even in the partial-to-partial matching scenario.…

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

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…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…