相关论文: ICOS: Efficient and Highly Robust Rotation Search …

We tackle data-driven 3D point cloud registration. Given point correspondences, the standard Kabsch algorithm provides an optimal rotation estimate. This allows to train registration models in an end-to-end manner by differentiating the SVD…

Image-to-3D models increasingly rely on hierarchical generation to disentangle geometry and texture. However, the design choices underlying these two-stage models--particularly the optimal choice of intermediate geometric…

Notwithstanding the popularity of conventional clustering algorithms such as K-means and probabilistic clustering, their clustering results are sensitive to the presence of outliers in the data. Even a few outliers can compromise the…

Outlier-robust estimation is a fundamental problem and has been extensively investigated by statisticians and practitioners. The last few years have seen a convergence across research fields towards "algorithmic robust statistics", which…

Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…

Registration of unmanned aerial vehicle laser scanning (ULS) and ground light detection and ranging (LiDAR) point clouds in forests is critical to create a detailed representation of a forest structure and an accurate inversion of forest…

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…

With the growth of 3D sensing technology, deep learning system for 3D point clouds has become increasingly important, especially in applications like autonomous vehicles where safety is a primary concern. However, there are also growing…

Rotation averaging is a synchronization process on single or multiple rotation groups, and is a fundamental problem in many computer vision tasks such as multi-view structure from motion (SfM). Specifically, rotation averaging involves the…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

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…

We address the correspondence-free alignment of two rotation sets on \(SO(3)\), a core task in calibration and registration that is often impeded by missing time alignment, outliers, and unknown axis conventions. Our key idea is to…

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…

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…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

The wide deployment of IoT sensors has enabled the collection of very big time series across different domains, from which advanced analytics can be performed to find unknown relationships, most importantly the correlations between them.…

Invariant Coordinate Selection (ICS) is a multivariate data transformation and a dimension reduction method that can be useful in many different contexts. It can be used for outlier detection or cluster identification, and can be seen as an…