相关论文: Adaptive Cost Function for Pointcloud Registration

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…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Deep learning-based point cloud registration models are often generalized from extensive training over a large volume of data to learn the ability to predict the desired geometric transformation to register 3D point clouds. In this paper,…

Localizing acoustic sound sources in the ocean is a challenging task due to the complex and dynamic nature of the environment. Factors such as high background noise, irregular underwater geometries, and varying acoustic properties make…

Point cloud completion is essential for robust 3D perception in safety-critical applications such as robotics and augmented reality. However, existing models perform static inference and rely heavily on inductive biases learned during…

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…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

In this paper, we address the point cloud registration problem, where well-known methods like ICP fail under uncertainty arising from sensor noise, pose-estimation errors, and partial overlap due to occlusion. We develop a novel approach,…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

Adapting deep learning networks for point cloud data recognition in self-driving vehicles faces challenges due to the variability in datasets and sensor technologies, emphasizing the need for adaptive techniques to maintain accuracy across…

This paper presents an end-to-end differentiable algorithm for robust and detail-preserving surface normal estimation on unstructured point-clouds. We utilize graph neural networks to iteratively parameterize an adaptive anisotropic kernel…

3D point cloud registration ranks among the most fundamental problems in remote sensing, photogrammetry, robotics and geometric computer vision. Due to the limited accuracy of 3D feature matching techniques, outliers may exist, sometimes…

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…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

Advanced 3D metrology technologies such as Coordinate Measuring Machine (CMM) and laser 3D scanners have facilitated the collection of massive point cloud data, beneficial for process monitoring, control and optimization. However, due to…

The continual improvement of 3D sensors has driven the development of algorithms to perform point cloud analysis. In fact, techniques for point cloud classification and segmentation have in recent years achieved incredible performance…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Context: Adaptive monitoring is a method used in a variety of domains for responding to changing conditions. It has been applied in different ways, from monitoring systems' customization to re-composition, in different application domains.…

In this paper, a self-adaptive contractive (SAC) algorithm is proposed for enhanced dynamic phasor estimation in the diverse operating conditions of modern power systems. At a high-level, the method is composed of three stages: parameter…