相关论文: Robust Point Cloud Registration Framework Based on…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

In this paper, we propose an algorithm for registering sequential bounding boxes with point cloud streams. Unlike popular point cloud registration techniques, the alignment of the point cloud and the bounding box can rely on the properties…

Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper,…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Efficiently identifying accurate correspondences between point clouds is crucial for both rigid and non-rigid point cloud registration. Existing methods usually rely on geometric or semantic feature embeddings to establish correspondences…

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…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

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…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Robust point cloud registration in real-time is an important prerequisite for many mapping and localization algorithms. Traditional methods like ICP tend to fail without good initialization, insufficient overlap or in the presence of…

Rigid registration of point clouds with partial overlaps is a longstanding problem usually solved in two steps: (a) finding correspondences between the point clouds; (b) filtering these correspondences to keep only the most reliable ones to…

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…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques,…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…