相关论文: DeepICP: An End-to-End Deep Neural Network for 3D …

Deep learning has shown promising results for multiple 3D point cloud registration datasets. However, in the underwater domain, most registration of multibeam echo-sounder (MBES) point cloud data are still performed using classical methods…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

Multi-view point cloud registration is a hot topic in the communities of multimedia technology and artificial intelligence (AI). In this paper, we propose a framework to reconstruct the 3D models by the multi-view point cloud registration…

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…

In this paper, we propose a novel probabilistic variant of iterative closest point (ICP) dubbed as CoBigICP. The method leverages both local geometrical information and global noise characteristics. Locally, the 3D structure of both target…

Since the PointNet was proposed, deep learning on point cloud has been the concentration of intense 3D research. However, existing point-based methods usually are not adequate to extract the local features and the spatial pattern of a point…

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed…

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…

High-confidence overlap prediction and accurate correspondences are critical for cutting-edge models to align paired point clouds in a partial-to-partial manner. However, there inherently exists uncertainty between the overlapping and…

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 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…

Despite recent success in incorporating learning into point cloud registration, many works focus on learning feature descriptors and continue to rely on nearest-neighbor feature matching and outlier filtering through RANSAC to obtain the…

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.…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

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…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

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…

The Iterative Closest Point (ICP) algorithm and its variants are a fundamental technique for rigid registration between two point sets, with wide applications in different areas from robotics to 3D reconstruction. The main drawbacks for ICP…

We present a progressive 3D registration framework that is a highly-efficient variant of classical non-rigid Iterative Closest Points (N-ICP). Since it uses the Laplace-Beltrami operator for deformation regularisation, we view the overall…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…