相关论文: A Termination Criterion for Probabilistic PointClo…

Probabilistic point-set registration methods have been gaining more attention for their robustness to noise, outliers and occlusions. However, these methods tend to be much slower than the popular iterative closest point (ICP) algorithms,…

Point cloud rigid registration is a fundamental problem in 3D computer vision. In the multiview case, we aim to find a set of 6D poses to align a set of objects. Methods based on pairwise registration rely on a subsequent synchronization…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…

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…

Early stopping techniques can be utilized to decrease the time cost, however currently the ultimate goal of early stopping techniques is closely related to the accuracy upgrade or the ability of the neural network to generalize better on…

A parity-check stopping (PCS) criterion for turbo decoding is proposed in [1], which shows its priority compared with the stopping criteria of Sign Change Ratio (SCR), Sign Difference Ratio (SDR), Cross Entropy (CE) and improved CEbased…

Point cloud completion aims to predict complete shape from its partial observation. Current approaches mainly consist of generation and refinement stages in a coarse-to-fine style. However, the generation stage often lacks robustness to…

As 3D point cloud analysis has received increasing attention, the insufficient scale of point cloud datasets and the weak generalization ability of networks become prominent. In this paper, we propose a simple and effective augmentation…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

In this paper, we present Point Cloud Color Constancy, in short PCCC, an illumination chromaticity estimation algorithm exploiting a point cloud. We leverage the depth information captured by the time-of-flight (ToF) sensor mounted rigidly…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

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…

In the last two decades, there has been much progress on model checking of both probabilistic systems and higher-order programs. In spite of the emergence of higher-order probabilistic programming languages, not much has been done to…

In this paper we introduce an adaptive cost function for pointcloud registration. The algorithm automatically estimates the sensor noise, which is important for generalization across different sensors and environments. Through experiments…

The Discriminative Optimization (DO) algorithm has been proved much successful in 3D point cloud registration. In the original DO, the feature (descriptor) of two point cloud was defined as a histogram, and the element of histogram…

Point cloud compression (PCC) has made remarkable achievement in recent years. In the mean time, point cloud quality assessment (PCQA) also realize gratifying development. Some recently emerged metrics present robust performance on public…

In distributed model predictive control (DMPC), where a centralized optimization problem is solved in distributed fashion using dual decomposition, it is important to keep the number of iterations in the solution algorithm, i.e. the amount…

We study the termination problem for probabilistic term rewrite systems. We prove that the interpretation method is sound and complete for a strengthening of positive almost sure termination, when abstract reduction systems and term rewrite…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…