相关论文: PHASER: a Robust and Correspondence-free Global Po…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

For both indoor and outdoor environments, we propose an efficient and novel method for different scales and sparse 3D point clouds registration that cannot be handled by the current popular ICP approaches. Our algorithm efficiently detects…

Here we present an in-depth study of the behaviour of the Fast Folding Algorithm, an alternative pulsar searching technique to the Fast Fourier Transform. Weaknesses in the Fast Fourier Transform, including a susceptibility to red noise,…

This paper considers online object-level mapping using partial point-cloud observations obtained online in an unknown environment. We develop and approach for fully Convolutional Object Retrieval and Symmetry-AIded Registration (CORSAIR).…

In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

In the realm of point cloud registration, the most prevalent pose evaluation approaches are statistics-based, identifying the optimal transformation by maximizing the number of consistent correspondences. However, registration recall…

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…

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…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

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.…

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…

We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration problem using a Truncated Least Squares (TLS) cost that…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

With the recent development of high-end LiDARs, more and more systems are able to continuously map the environment while moving and producing spatially redundant information. However, none of the previous approaches were able to effectively…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…