相关论文: PCR-Pro: 3D Sparse and Different Scale Point Cloud…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

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…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500--1000 Hz processing. The proposed method significantly…

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…

The monocular vision-based simultaneous localization and mapping (vSLAM) is one of the most challenging problem in mobile robotics and computer vision. In this work we study the post-processing techniques applied to sparse 3D point-cloud…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

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 compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…