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

The digitalization of society is rapidly developing toward the realization of the digital twin and metaverse. In particular, point clouds are attracting attention as a media format for 3D space. Point cloud data is contaminated with noise…

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…

Correspondence-based point cloud registration is a cornerstone in geometric computer vision, robotics perception, photogrammetry and remote sensing, which seeks to estimate the best rigid transformation between two point clouds from the…

In point clouds, noise directly perturbs point coordinates that encode both spatial location and geometry, making one-to-one correspondence construction more challenging than in images. Existing methods impose statistical mappings across…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

We present Point2SSM, a novel unsupervised learning approach for constructing correspondence-based statistical shape models (SSMs) directly from raw point clouds. SSM is crucial in clinical research, enabling population-level analysis of…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

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…

Most deep learning-based point cloud processing methods are supervised and require large scale of labeled data. However, manual labeling of point cloud data is laborious and time-consuming. Self-supervised representation learning can…

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 stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Recent research leveraging large-scale pretrained diffusion models has demonstrated the potential of using diffusion features to establish semantic correspondences in images. Inspired by advancements in diffusion-based techniques, we…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Seeking consistent point-to-point correspondences between 3D rigid data (point clouds, meshes, or depth maps) is a fundamental problem in 3D computer vision. While a number of correspondence selection methods have been proposed in recent…

Roof plane segmentation from airborne LiDAR point clouds is an important technology for 3D building model reconstruction. One of the key issues of plane segmentation is how to design powerful features that can exactly distinguish adjacent…