相关论文: PointDSC: Robust Point Cloud Registration using De…

We study the problem of outlier correspondence pruning for non-rigid point cloud registration. In rigid registration, spatial consistency has been a commonly used criterion to discriminate outliers from inliers. It measures the…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

An established approach for 3D point cloud registration is to estimate the registration function from 3D keypoint correspondences. Typically, a robust technique is required to conduct the estimation, since there are false correspondences or…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

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…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn…

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…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

In this paper, we introduce a new outlier removal method that fully leverages geometric and semantic information, to achieve robust registration. Current semantic-based registration methods only use semantics for point-to-point or instance…

Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…