相关论文: Deep Closest Point: Learning Representations for P…

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…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

Much progress has been made on the task of learning-based 3D point cloud registration, with existing methods yielding outstanding results on standard benchmarks, such as ModelNet40, even in the partial-to-partial matching scenario.…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

In the context of 3D mapping, larger and larger point clouds are acquired with LIDAR sensors. The Iterative Closest Point (ICP) algorithm is used to align these point clouds. However, its complexity is directly dependent of the number of…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

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…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Iterative Closest Point (ICP) is a commonly used algorithm to estimate transformation between two point clouds. The key idea of this work is to leverage recent advances in explainable AI for probabilistic ICP methods that provide…

Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation. Aligning point clouds produced by these sensors is a vital component in such…

Point clouds have become an increasingly important representation for 3D medical imaging, offering a compact, surface-preserving alternative to traditional voxel or mesh-based approaches. Recent advances in deep learning have enabled rapid…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…