相关论文: Best Buddies Registration for Point Clouds

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

We focus on the problem of class-agnostic instance segmentation of LiDAR point clouds. We propose an approach that combines graph-theoretic search with data-driven learning: it searches over a set of candidate segmentations and returns one…

We study the problem of outlier correspondence pruning for non-rigid point cloud registration. In rigid registration, spatial consistency has been a commonly used criterion to discriminate outliers from inliers. It measures the…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Learning signed distance functions (SDFs) from 3D point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning…

Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimation pipeline and may cause drift under real-time constraints.…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

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.…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

In object detection, bounding box regression (BBR) is a crucial step that determines the object localization performance. However, we find that most previous loss functions for BBR have two main drawbacks: (i) Both $\ell_n$-norm and…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

In this paper, we introduce a reinforcement learning approach utilizing a novel topology-based information gain metric for directing the next best view of a noisy 3D sensor. The metric combines the disjoint sections of an observed surface…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…

An important step in a multi-sensor surveillance system is to estimate sensor biases from their noisy asynchronous measurements. This estimation problem is computationally challenging due to the highly nonlinear transformation between the…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…