相关论文: An Improved Discriminative Optimization for 3D Rig…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

3D object classification is a crucial problem due to its significant practical relevance in many fields, including computer vision, robotics, and autonomous driving. Although deep learning methods applied to point clouds sampled on CAD…

With the development of the 3D data acquisition facilities, the increasing scale of acquired 3D point clouds poses a challenge to the existing data compression techniques. Although promising performance has been achieved in static point…

Existing techniques to compress point cloud attributes leverage either geometric or video-based compression tools. We explore a radically different approach inspired by recent advances in point cloud representation learning. Point clouds…

In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…

As 3D point cloud analysis has received increasing attention, the insufficient scale of point cloud datasets and the weak generalization ability of networks become prominent. In this paper, we propose a simple and effective augmentation…

Point cloud filtering, the main bottleneck of which is removing noise (outliers) while preserving geometric features, is a fundamental problem in 3D field. The two-step schemes involving normal estimation and position update have been shown…

In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing variants of ICP that solely rely on geometry or other features…

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.…

Robust point cloud registration in real-time is an important prerequisite for many mapping and localization algorithms. Traditional methods like ICP tend to fail without good initialization, insufficient overlap or in the presence of…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

We study the problem of attribute compression for large-scale unstructured 3D point clouds. Through an in-depth exploration of the relationships between different encoding steps and different attribute channels, we introduce a deep…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…

Point cloud registration plays a critical role in a multitude of computer vision tasks, such as pose estimation and 3D localization. Recently, a plethora of deep learning methods were formulated that aim to tackle this problem. Most of…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…