相关论文: Guaranteed Outlier Removal for Point Cloud Registr…

Even though considerable progress has been made in deep learning-based 3D point cloud processing, how to obtain accurate correspondences for robust registration remains a major challenge because existing hard assignment methods cannot deal…

Given an input set of $3$D point pairs, the goal of outlier-robust $3$D registration is to compute some rotation and translation that align as many point pairs as possible. This is an important problem in computer vision, for which many…

Often the challenge associated with tasks like fraud and spam detection is the lack of all likely patterns needed to train suitable supervised learning models. This problem accentuates when the fraudulent patterns are not only scarce, they…

We propose to explore the properties of raw point clouds through the \emph{winding clearness}, a concept we first introduce for measuring the clarity of the interior/exterior relationships represented by the winding number field of the…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Diffusion models have shown the great potential in the point cloud registration (PCR) task, especially for enhancing the robustness to challenging cases. However, existing diffusion-based PCR methods primarily focus on instance-level…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Registration of point clouds collected from a pair of distant vehicles provides a comprehensive and accurate 3D view of the driving scenario, which is vital for driving safety related applications, yet existing literature suffers from the…

We propose an effective unsupervised 3D point cloud novelty detection approach, leveraging a general point cloud feature extractor and a one-class classifier. The general feature extractor consists of a graph-based autoencoder and is…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

Image-to-point-cloud registration (I2P) is a fundamental task in robotic applications such as manipulation,grasping, and localization. Existing deep learning-based I2P methods seek to align image and point cloud features in a learned…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Interpreting objects with basic geometric primitives has long been studied in computer vision. Among geometric primitives, superquadrics are well known for their ability to represent a wide range of shapes with few parameters. However, as…

Three-dimensional (3D) fingerprint recognition and identification offer several advantages over traditional two-dimensional (2D) recognition systems. The contactless nature of 3D fingerprints enhances hygiene and security, reducing the risk…

Often the challenge associated with tasks like fraud and spam detection[1] is the lack of all likely patterns needed to train suitable supervised learning models. In order to overcome this limitation, such tasks are attempted as outlier or…

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…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

We propose a method for speeding up a 3D point cloud registration through a cascading feature extraction. The current approach with the highest accuracy is realized by iteratively executing feature extraction and registration using deep…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…