相关论文: Correspondence-Free Point Cloud Registration with …

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

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 present a deep learning method that propagates point-wise feature representations across shapes within a collection for the purpose of 3D shape segmentation. We propose a cross-shape attention mechanism to enable interactions between a…

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…

Traditional 3D face models learn a latent representation of faces using linear subspaces from limited scans of a single database. The main roadblock of building a large-scale face model from diverse 3D databases lies in the lack of dense…

The goal of this paper is to learn dense 3D shape correspondence for topology-varying objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead, our novel…

As a primitive 3D data representation, point clouds are prevailing in 3D sensing, yet short of intrinsic structural information of the underlying objects. Such discrepancy poses great challenges on directly establishing correspondences…

Registration of point clouds collected from a pair of distant vehicles provides a comprehensive and accurate 3D view of the driving scenario, which is vital for driving safety related applications, yet existing literature suffers from the…

While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $SE(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Addressing the challenges posed by the substantial gap in point cloud data collected from diverse sensors, achieving robust cross-source point cloud registration becomes a formidable task. In response, we present a novel framework for point…

Point cloud segmentation is the foundation of 3D environmental perception for modern intelligent systems. To solve this problem and image segmentation, conditional random fields (CRFs) are usually formulated as discrete models in label…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

We propose a self-supervised method for partial point set registration. While recent proposed learning-based methods have achieved impressive registration performance on the full shape observations, these methods mostly suffer from…

We propose a novel zero-shot approach to computing correspondences between 3D shapes. Existing approaches mainly focus on isometric and near-isometric shape pairs (e.g., human vs. human), but less attention has been given to strongly…