相关论文: One Framework to Register Them All: PointNet Encod…

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…

Recently, 3D understanding research sheds light on extracting features from point cloud directly, which requires effective shape pattern description of point clouds. Inspired by the outstanding 2D shape descriptor SIFT, we design a module…

Although convolutional neural networks have achieved remarkable success in analyzing 2D images/videos, it is still non-trivial to apply the well-developed 2D techniques in regular domains to the irregular 3D point cloud data. To bridge this…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

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…

Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Recent deep networks that directly handle points in a point set, e.g., PointNet, have been state-of-the-art for supervised learning tasks on point clouds such as classification and segmentation. In this work, a novel end-to-end deep…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Low-overlap regions between paired point clouds make the captured features very low-confidence, leading cutting edge models to point cloud registration with poor quality. Beyond the traditional wisdom, we raise an intriguing question: Is it…