相关论文: TCM-ICP: Transformation Compatibility Measure for …

We propose a novel technique to register sparse 3D scans in the absence of texture. While existing methods such as KinectFusion or Iterative Closest Points (ICP) heavily rely on dense point clouds, this task is particularly challenging…

In this note, we propose an approach to initialize the Iterative Closest Point (ICP) algorithm to match unlabelled point clouds related by rigid transformations. The method is based on matching the ellipsoids defined by the points'…

In this paper, we present a novel approach for multiview point cloud registration. Different from previous researches that typically employ a global scheme for multiview registration, we propose to adopt an incremental pipeline to…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

Perspective distortion (PD) leads to substantial alterations in the shape, size, orientation, angles, and spatial relationships of visual elements in images. Accurately determining camera intrinsic and extrinsic parameters is challenging,…

In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehicles, certifying the safety of the localization process poses…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

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…

Robust robotic autonomy remains challenging in complex environments, where loss of stability on uneven or slippery terrain can induce extreme accelerations and angular velocities. Such motions corrupt sensor measurements and degrade state…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…

In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Mapping algorithms that rely on registering point clouds inevitably suffer from local drift, both in localization and in the built map. Applications that require accurate maps, such as environmental monitoring, benefit from additional…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light conditions. However, the performance of LiDAR odometry varies…

This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…