相关论文: Point Cloud Registration using Representative Over…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Point cloud completion, which aims at recovering original shape information from partial point clouds, has attracted attention on 3D vision community. Existing methods usually succeed in completion for standard shape, while failing to…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Point cloud registration is crucial for ensuring 3D alignment consistency of multiple local point clouds in 3D reconstruction for remote sensing or digital heritage. While various point cloud-based registration methods exist, both…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Point cloud patterns are hard to learn because of the implicit local geometry features among the orderless points. In recent years, point cloud representation in 2D space has attracted increasing research interest since it exposes the local…

While 3D-3D registration is traditionally tacked by optimization-based methods, recent work has shown that learning-based techniques could achieve faster and more robust results. In this context, however, only PRNet can handle the…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…