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

This paper studies a comprehensive framework for reconfigurable intelligent surface (RIS)-assisted integrated communication, sensing, and computation (ICSC) systems with a User-centric focus. The study encompasses two scenarios: the general…

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…

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a…

Recent works in medical image registration have proposed the use of Implicit Neural Representations, demonstrating performance that rivals state-of-the-art learning-based methods. However, these implicit representations need to be optimized…

Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…

We present a novel rotation invariant architecture operating directly on point cloud data. We demonstrate how rotation invariance can be injected into a recently proposed point-based PCNN architecture, at all layers of the network,…

We explore why many recently proposed robust estimation problems are efficiently solvable, even though the underlying optimization problems are non-convex. We study the loss landscape of these robust estimation problems, and identify the…

Optimization techniques have been widely used in deformable registration, allowing for the incorporation of similarity metrics with regularization mechanisms. These regularization mechanisms are designed to mitigate the effects of trivial…

We introduce a new approach for reconstruction and novel view synthesis of unbounded real-world scenes. In contrast to previous methods using either volumetric fields, grid-based models, or discrete point cloud proxies, we propose a hybrid…

In this paper, we unify popular non-rigid registration methods for point sets and surfaces under our general framework, GiNGR. GiNGR builds upon Gaussian Process Morphable Models (GPMM) and hence separates modeling the deformation prior…

We address the problem of estimating the poses of multiple instances of the source point cloud within a target point cloud. Existing solutions require sampling a lot of hypotheses to detect possible instances and reject the outliers, whose…

The performance of surface registration relies heavily on the metric used for the alignment error between the source and target shapes. Traditionally, such a metric is based on the point-to-point or point-to-plane distance from the points…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

Partial to Partial Point Cloud Registration (partial PCR) remains a challenging task, particularly when dealing with a low overlap rate. In comparison to the full-to-full registration task, we find that the objective of partial PCR is still…

Point cloud registration is fundamental in 3D vision applications, including autonomous driving, robotics, and medical imaging, where precise alignment of multiple point clouds is essential for accurate environment reconstruction. However,…

Many problems in robotics, such as estimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems. Unfortunately, vanilla nonminimal solvers for least-squares problems are…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…