相关论文: RPM-Net: Robust Point Matching using Learned Featu…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

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…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Point set registration is a key component in many computer vision tasks. The goal of point set registration is to assign correspondences between two sets of points and to recover the transformation that maps one point set to the other.…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

Motivated by the intuition that the critical step of localizing a 2D image in the corresponding 3D point cloud is establishing 2D-3D correspondence between them, we propose the first feature-based dense correspondence framework for…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

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…

Implicit Neural Point Cloud (INPC) is a recent hybrid representation that combines the expressiveness of neural fields with the efficiency of point-based rendering, achieving state-of-the-art image quality in novel view synthesis. However,…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

We introduce a novel self-attention-based normal estimation network that is able to focus softly on relevant points and adjust the softness by learning a temperature parameter, making it able to work naturally and effectively within a large…

Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, short-term environmental changes, occurring over days or weeks,…

Point cloud registration (PCR) is a fundamental task for integrating 3D observations in remote sensing applications. This paper proposes a fast and effective PCR algorithm utilizing probabilistic self-updating local correspondence and line…

Recently MLP-based methods have shown strong performance in point cloud analysis. Simple MLP architectures are able to learn geometric features in local point groups yet fail to model long-range dependencies directly. In this paper, we…

Statistical shape models are a useful tool in image processing and computer vision. A Procrustres registration of the contours of the same shape is typically perform to align the training samples to learn the statistical shape model. A…

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…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…