相关论文: 3D Local Features for Direct Pairwise Registration

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

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,…

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…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

We present a relocalization pipeline, which combines an absolute pose regression (APR) network with a novel view synthesis based direct matching module, offering superior accuracy while maintaining low inference time. Our contribution is…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching. By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in…

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,…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

We present a simple, flexible, and general framework titled Partial Registration Network (PRNet), for partial-to-partial point cloud registration. Inspired by recently-proposed learning-based methods for registration, we use deep networks…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Point cloud registration is crucial for ensuring 3D alignment consistency of multiple local point clouds in 3D reconstruction for remote sensing or digital heritage. While various point cloud-based registration methods exist, both…

Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of…