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

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

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,…

End-to-end trained per-point embeddings are an essential ingredient of any state-of-the-art 3D point cloud processing such as detection or alignment. Methods like PointNet, or the more recent point cloud transformer -- and its variants --…

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…

Point cloud registration is a classical topic in the field of 3D Vision and Computer Graphics. Generally, the implementation of registration is typically sensitive to similarity transformations (translation, scaling, and rotation), noisy…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

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…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

Recently, the advancement of 3D point clouds in deep learning has attracted intensive research in different application domains such as computer vision and robotic tasks. However, creating feature representation of robust, discriminative…

Detecting the reflection symmetry plane of an object represented by a 3D point cloud is a fundamental problem in 3D computer vision and geometry processing due to its various applications, such as compression, object detection, robotic…

Recovering high quality surfaces from noisy point clouds, known as point cloud denoising, is a fundamental yet challenging problem in geometry processing. Most of the existing methods either directly denoise the noisy input or filter raw…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

The interest in matching non-rigidly deformed shapes represented as raw point clouds is rising due to the proliferation of low-cost 3D sensors. Yet, the task is challenging since point clouds are irregular and there is a lack of intrinsic…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

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…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

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…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…