相关论文: Best Buddies Registration for Point Clouds

Registration of distant outdoor LiDAR point clouds is crucial to extending the 3D vision of collaborative autonomous vehicles, and yet is challenging due to small overlapping area and a huge disparity between observed point densities. In…

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize the geometric structure information in point feature embedding or outlier rejection for registration while neglecting to…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

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…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

Registering accurately point clouds from a cheap low-resolution sensor is a challenging task. Existing rigid registration methods failed to use the physical 3D uncertainty distribution of each point from a real sensor in the dynamic…

Registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. To improve the accuracy…

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.…

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

Point clouds are collected nowadays from a plethora of sensors, some having higher accuracies and higher costs, some having lower accuracies but also lower costs. Not only there is a large choice for different sensors, but also these can be…

An established approach for 3D point cloud registration is to estimate the registration function from 3D keypoint correspondences. Typically, a robust technique is required to conduct the estimation, since there are false correspondences or…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theoretic pruning, or pose solvers. In this paper, we take a…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Learning a powerful representation from point clouds is a fundamental and challenging problem in the field of computer vision. Different from images where RGB pixels are stored in the regular grid, for point clouds, the underlying semantic…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…

Autonomous perception requires high-quality environment sensing in the form of 3D bounding boxes of dynamic objects. The primary sensors used in automotive systems are light-based cameras and LiDARs. However, they are known to fail in…