相关论文: FilterReg: Robust and Efficient Probabilistic Poin…

Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…

Probabilistic methods for point set registration have interesting theoretical properties, such as linear complexity in the number of used points, and they easily generalize to joint registration of multiple point sets. In this work, we…

The goal of point set registration is to find point-by-point correspondences between point sets, each of which characterizes the shape of an object. Because local preservation of object geometry is assumed, prevalent algorithms in the area…

This paper addresses the problem of registering multiple point sets. Solutions to this problem are often approximated by repeatedly solving for pairwise registration, which results in an uneven treatment of the sets forming a pair: a model…

Noisy, partially overlapping data and the need for real-time processing pose major challenges for rigid registration. Considering that feature-based matching can handle large transformation differences but suffers from limited accuracy,…

Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

Iterative Closest Point (ICP) is a widely used method for performing scan-matching and registration. Being simple and robust method, it is still computationally expensive and may be challenging to use in real-time applications with limited…

We propose PHASER, a correspondence-free global registration of sensor-centric pointclouds that is robust to noise, sparsity, and partial overlaps. Our method can seamlessly handle multimodal information and does not rely on keypoint nor…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

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…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

We propose a principled algorithm for robust Bayesian filtering and smoothing in nonlinear stochastic dynamic systems when both the transition function and the measurement function are described by non-parametric Gaussian process (GP)…

Recently, Expectation-maximization (EM) algorithm has been introduced as an effective means to solve multi-view registration problem. Most of the previous methods assume that each data point is drawn from the Gaussian Mixture Model (GMM),…

This paper proposes an effective approach for the scaling registration of $m$-D point sets. Different from the rigid transformation, the scaling registration can not be formulated into the common least square function due to the ill-posed…

State filtering is a key problem in many signal processing applications. From a series of noisy measurement, one would like to estimate the state of some dynamic system. Existing techniques usually adopt a Gaussian noise assumption which…

The crucial step in designing a particle filter for a particular application is the choice of importance density. The optimal scheme is to use the conditional posterior density of the state, but this cannot be sampled or calculated…

We consider approximate maximum likelihood parameter estimation in nonlinear state-space models. We discuss both direct optimization of the likelihood and expectation--maximization (EM). For EM, we also give closed-form expressions for the…

Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a successful registration. State-of-the-art methods for…