相关论文: A Robust Loss for Point Cloud Registration

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

We propose new, and robust, loss functions for the point cloud registration problem. Our loss functions are inspired by the Best Buddies Similarity (BBS) measure that counts the number of mutual nearest neighbors between two point sets.…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

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…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

Deformable registration has been one of the pillars of biomedical image computing. Conventional approaches refer to the definition of a similarity criterion that, once endowed with a deformation model and a smoothness constraint, determines…

We propose a novel weakly supervised discriminative algorithm for learning context specific registration metrics as a linear combination of conventional similarity measures. Conventional metrics have been extensively used over the past two…

Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…

This paper addresses the issue of matching rigid 3D object points with 2D image points through point registration based on maximum likelihood principle in computer simulated images. Perspective projection is necessary when transforming 3D…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

We propose a surface fitting method for unstructured 3D point clouds. This method, called DeepFit, incorporates a neural network to learn point-wise weights for weighted least squares polynomial surface fitting. The learned weights act as a…

Recent research leveraging large-scale pretrained diffusion models has demonstrated the potential of using diffusion features to establish semantic correspondences in images. Inspired by advancements in diffusion-based techniques, we…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

Intensity-based image registration approaches rely on similarity measures to guide the search for geometric correspondences with high affinity between images. The properties of the used measure are vital for the robustness and accuracy of…

We propose to explore the properties of raw point clouds through the \emph{winding clearness}, a concept we first introduce for measuring the clarity of the interior/exterior relationships represented by the winding number field of the…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Point cloud registration is fundamental in 3D vision applications, including autonomous driving, robotics, and medical imaging, where precise alignment of multiple point clouds is essential for accurate environment reconstruction. However,…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Aerial image registration or matching is a geometric process of aligning two aerial images captured in different environments. Estimating the precise transformation parameters is hindered by various environments such as time, weather, and…