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

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

Point cloud anomaly detection under the anomaly-free setting poses significant challenges as it requires accurately capturing the features of 3D normal data to identify deviations indicative of anomalies. Current efforts focus on devising…

Point clouds-based Networks have achieved great attention in 3D object classification, segmentation and indoor scene semantic parsing. In terms of face recognition, 3D face recognition method which directly consume point clouds as input is…

We study the problem of extracting correspondences between a pair of point clouds for registration. For correspondence retrieval, existing works benefit from matching sparse keypoints detected from dense points but usually struggle to…

The goal of the \emph{alignment problem} is to align a (given) point cloud $P = \{p_1,\cdots,p_n\}$ to another (observed) point cloud $Q = \{q_1,\cdots,q_n\}$. That is, to compute a rotation matrix $R \in \mathbb{R}^{3 \times 3}$ and a…

Sparse estimation methods capable of tolerating outliers have been broadly investigated in the last decade. We contribute to this research considering high-dimensional regression problems contaminated by multiple mean-shift outliers which…

This paper considers the problem of recovering signals modeled by generative models from linear measurements contaminated with sparse outliers. We propose an outlier detection approach for reconstructing the ground-truth signals modeled by…

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…

Estimation of differential geometric quantities in discrete 3D data representations is one of the crucial steps in the geometry processing pipeline. Specifically, estimating normals and sharp feature lines from raw point cloud helps improve…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation,…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

Outlier detection is the identification of points in a dataset that do not conform to the norm. Outlier detection is highly sensitive to the choice of the detection algorithm and the feature subspace used by the algorithm. Extracting…

Mass lumping techniques are commonly employed in explicit time integration schemes for problems in structural dynamics and both avoid solving costly linear systems with the consistent mass matrix and increase the critical time step. In…

This paper investigates differentially private analysis of distance-based outliers. The problem of outlier detection is to find a small number of instances that are apparently distant from the remaining instances. On the other hand, the…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Although 3D point cloud classification has recently been widely deployed in different application scenarios, it is still very vulnerable to adversarial attacks. This increases the importance of robust training of 3D models in the face of…

Point Pair Features is a widely used method to detect 3D objects in point clouds, however they are prone to fail in presence of sensor noise and background clutter. We introduce novel sampling and voting schemes that significantly reduces…