相关论文: Constructing Locally Dense Point Clouds Using Open…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

We propose a dense neural simultaneous localization and mapping (SLAM) approach for monocular RGBD input which anchors the features of a neural scene representation in a point cloud that is iteratively generated in an input-dependent…

For both indoor and outdoor environments, we propose an efficient and novel method for different scales and sparse 3D point clouds registration that cannot be handled by the current popular ICP approaches. Our algorithm efficiently detects…

To handle the different types of surface reconstruction tasks, we have replicated as well as modified a few of reconstruction methods and have made comparisons between the traditional method and data-driven method for reconstruction the…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

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…

We present SyNoRiM, a novel way to jointly register multiple non-rigid shapes by synchronizing the maps relating learned functions defined on the point clouds. Even though the ability to process non-rigid shapes is critical in various…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

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…

Point cloud analysis is challenging due to its unique characteristics of unorderness, sparsity and irregularity. Prior works attempt to capture local relationships by convolution operations or attention mechanisms, exploiting geometric…

Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame,…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…

Most of the state-of-the-art indirect visual SLAM methods are based on the sparse point features. However, it is hard to find enough reliable point features for state estimation in the case of low-textured scenes. Line features are abundant…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

Accurately and robustly estimating the state of deformable linear objects (DLOs), such as ropes and wires, is crucial for DLO manipulation and other applications. However, it remains a challenging open issue due to the high dimensionality…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…