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

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

Point cloud alignment is a common problem in computer vision and robotics, with applications ranging from 3D object recognition to reconstruction. We propose a novel approach to the alignment problem that utilizes Bayesian nonparametrics to…

Surface registration is one of the most fundamental problems in geometry processing. Many approaches have been developed to tackle this problem in cases where the surfaces are nearly isometric. However, it is much more challenging to…

Non-rigid registration is a crucial task with applications in medical imaging, industrial robotics, computer vision, and entertainment. Standard approaches accomplish this task using variations on the Non-Rigid Iterative Closest Point…

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…

We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

Surface registration, the task of aligning several multidimensional point sets, is a necessary task in many scientific fields. In this work, a novel statistical approach is developed to solve the problem of nonrigid registration. While the…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

In this paper, we introduce a non-rigid registration pipeline for pairs of unorganized point clouds that may be topologically different. Standard warp field estimation algorithms, even under robust, discontinuity-preserving regularization,…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

We propose a novel objective for penalizing geometric inconsistencies to improve the depth and pose estimation performance of monocular camera images. Our objective is designed using the Wasserstein distance between two point clouds,…

In this paper, we propose a transformer-based procedure for the efficient registration of non-rigid 3D point clouds. The proposed approach is data-driven and adopts for the first time the transformer architecture in the registration task.…