相关论文: Applying Lie Groups Approaches for Rigid Registrat…

Many relevant applications of group theoretical methods to physical problems are related, in some manner, to classification schemes by means of symmetry groups. In these schemes, irreducible representations of a Lie group have to be…

The goal of point set registration is to find point-by-point correspondences between point sets, each of which characterizes the shape of an object. Because local preservation of object geometry is assumed, prevalent algorithms in the area…

This paper introduces and studies generalized degenerate Clifford and Lipschitz groups in geometric (Clifford) algebras. These Lie groups preserve the direct sums of the subspaces determined by the grade involution and reversion under the…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

We consider some natural (functorial) lifts of geometric objects associated with statistical manifolds (metric tensor, dual connections, skewness tensor, etc.) to higher tangent bundles. It turns out that the lifted objects form again a…

We present LieART 2.0 which contains substantial extensions to the Mathematica application LieART (Lie Algebras and Representation Theory) for computations frequently encountered in Lie algebras and representation theory, such as tensor…

In recent years methods for the integration of Poisson manifolds and of Lie algebroids have been proposed, the latter being usually presented as a generalization of the former. In this note it is shown that the latter method is actually…

Point set registration is a powerful method that enables robots to manipulate deformable objects. By mapping the point cloud of the current object to the pre-trained point cloud, a transformation function can be constructed. The…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

We discuss the basic properties of Lie groupoids, Lie algebroids and Lie pseudo-groups in view of applying these techniques to the analysis of Jordan-H\"older resolutions and, subsequently, to the integration of partial differential…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

Point cloud registration is a popular topic which has been widely used in 3D model reconstruction, location, and retrieval. In this paper, we propose a new registration method, KSS-ICP, to address the rigid registration task in Kendall…

Hilbert--Lie groups are Lie groups whose Lie algebra is a real Hilbert space whose scalar product is invariant under the adjoint action. These infinite-dimensional Lie groups are the closest relatives to compact Lie groups. Here we study…

In the first section we recall some basic notions on Lie algebras. In a second time we study the algebraic variety of complex $n$-dimensional Lie algebras. We present different notions of deformations : Gerstenhaber deformations,…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

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.…

We discuss and develop some connections between analysis on singular spaces and operator algebras, as presented in my sequence of four lectures at the conference "Noncommutative geometry and applications," Frascati, Italy, June 16-21, 2014.…

We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences. We first reformulate the registration problem using a Truncated Least Squares…

This article presents for the first time a global method for registering 3D curves with 3D surfaces without requiring an initialization. The algorithm works with 2-tuples point+vector that consist in pairs of points augmented with the…