相关论文: Multi-scale Non-Rigid Point Cloud Registration Usi…

In this paper, we propose an efficient method to estimate the Weingarten map for point cloud data sampled from manifold embedded in Euclidean space. A statistical model is established to analyze the asymptotic property of the estimator. In…

While many Machine Learning methods were developed or transposed on Riemannian manifolds to tackle data with known non Euclidean geometry, Optimal Transport (OT) methods on such spaces have not received much attention. The main OT tool on…

We propose an efficient framework for point cloud and measure registration using bi-Lipschitz homeomorphisms, achieving O(n log n) complexity, where n is the number of points. By leveraging the Energy-Distance (ED) kernel, which can be…

Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…

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…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Inspired by the recent PointHop classification method, an unsupervised 3D point cloud registration method, called R-PointHop, is proposed in this work. R-PointHop first determines a local reference frame (LRF) for every point using its…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

A fundamental tool in shape analysis is the virtual embedding of the Riemannian manifold describing the geometry of a shape into Euclidean space. Several methods have been proposed to embed isometric shapes in flat domains while preserving…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Affine Grassmannian has been favored for expressing proximity between lines and planes due to its theoretical exactness in measuring distances among features. Despite this advantage, the existing method can only measure the proximity…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Surface registration plays an important role for anatomical shape analysis in medical imaging. Existing surface registration methods often face a trade-off between efficiency and robustness. Local point matching methods are computationally…

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…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

Manifold learning is a central task in modern statistics and data science. Many datasets (cells, documents, images, molecules) can be represented as point clouds embedded in a high dimensional ambient space, however the degrees of freedom…

Non-rigid point cloud registration is a critical challenge in 3D scene understanding, particularly in surgical navigation. Although existing methods achieve excellent performance when trained on large-scale, high-quality datasets, these…

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…