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

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of…

Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…

Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time. Over the years, several deep learning approaches have been proposed to address this…

The ability of humans to infer head poses from face shapes, and vice versa, indicates a strong correlation between the two. Accordingly, recent studies on face alignment have employed head pose information to predict facial landmarks in…

3D pose estimation from a 2D cross-sectional view enables healthcare professionals to navigate through the 3D space, and such techniques initiate automatic guidance in many image-guided radiology applications. In this work, we investigate…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

As a fundamental problem in computer vision, 3D point cloud registration (PCR) aims to seek the optimal pose to align a point cloud pair. In this paper, we present a 3D registration method with maximal cliques (MAC). The key insight is to…

Point cloud matching, a crucial technique in computer vision, medical and robotics fields, is primarily concerned with finding correspondences between pairs of point clouds or voxels. In some practical scenarios, emphasizing local…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…