相关论文: Multi-view Point Cloud Registration with Adaptive …

This work focuses on Registration or Alignment of 3D point sets. Although the Registration problem is a well established problem and it's solved using multiple variants of Iterative Closest Point (ICP) Algorithm, most of the approaches in…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

Reconstructing 3D point clouds into triangle meshes is a key problem in computational geometry and surface reconstruction. Point cloud triangulation solves this problem by providing edge information to the input points. Since no vertex…

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…

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

In real-world scenarios, scanned point clouds are often incomplete due to occlusion issues. The tasks of self-supervised and weakly-supervised point cloud completion involve reconstructing missing regions of these incomplete objects without…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in…

Point cloud registration is important in computer-aided interventions (CAI). While learning-based point cloud registration methods have been developed, their clinical application is hampered by issues of generalizability and explainability.…

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…

The vulnerability of 3D point cloud analysis to unpredictable rotations poses an open yet challenging problem: orientation-aware 3D domain generalization. Cross-domain robustness and adaptability of 3D representations are crucial but not…