相关论文: Pairwise Point Cloud Registration using Graph Matc…

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation,…

We present a novel non-iterative learnable method for partial-to-partial 3D shape registration. The partial alignment task is extremely complex, as it jointly tries to match between points and identify which points do not appear in the…

Multiview point cloud registration plays a crucial role in robotics, automation, and computer vision fields. This paper concentrates on pose graph construction and motion synchronization within multiview registration. Previous methods for…

Even though considerable progress has been made in deep learning-based 3D point cloud processing, how to obtain accurate correspondences for robust registration remains a major challenge because existing hard assignment methods cannot deal…

We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of…

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…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

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…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

This study presents a high-accuracy, efficient, and physically induced method for 3D point cloud registration, which is the core of many important 3D vision problems. In contrast to existing physics-based methods that merely consider…

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…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

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…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

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…

We analyze the problem of determining whether 2 given point clouds in 2D, with any distinct cardinality and any number of outliers, have subsets of the same size that can be matched via a rigid motion. This problem is important, for…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…