相关论文: IRON: Invariant-based Highly Robust Point Cloud Re…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…

This study presents a high-accuracy, efficient, and physically induced method for 3D point cloud registration, which is the core of many important 3D vision problems. In contrast to existing physics-based methods that merely consider…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…

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…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

A novel method for robust estimation, called Graph-Cut RANSAC, GC-RANSAC in short, is introduced. To separate inliers and outliers, it runs the graph-cut algorithm in the local optimization (LO) step which is applied when a so-far-the-best…

Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…

We provide the first global model recovery results for the IRLS (iteratively reweighted least squares) heuristic for robust regression problems. IRLS is known to offer excellent performance, despite bad initializations and data corruption,…

Raw point clouds data inevitably contains outliers or noise through acquisition from 3D sensors or reconstruction algorithms. In this paper, we present a novel end-to-end network for robust point clouds processing, named PointASNL, which…

Radio Access Network (RAN) systems are inherently complex, requiring continuous monitoring to prevent performance degradation and ensure optimal user experience. The RAN leverages numerous key performance indicators (KPIs) to evaluate…

This paper presents a point cloud downsampling algorithm for fast and accurate trajectory optimization based on global registration error minimization. The proposed algorithm selects a weighted subset of residuals of the input point cloud…

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…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in…

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…

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…