相关论文: Deep Hough Voting for Robust Global Registration

In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…

Noisy, partially overlapping data and the need for real-time processing pose major challenges for rigid registration. Considering that feature-based matching can handle large transformation differences but suffers from limited accuracy,…

Shape registration is the process of aligning one 3D model to another. Most previous methods to align shapes with no known correspondences attempt to solve for both the transformation and correspondences iteratively. We present a shape…

In this paper, we introduce an SE(3) diffusion model-based point cloud registration framework for 6D object pose estimation in real-world scenarios. Our approach formulates the 3D registration task as a denoising diffusion process, which…

The main goal of point cloud registration in Multi-View Partial (MVP) Challenge 2021 is to estimate a rigid transformation to align a point cloud pair. The pairs in this competition have the characteristics of low overlap, non-uniform…

3D point cloud classification requires distinct models from 2D image classification due to the divergent characteristics of the respective input data. While 3D point clouds are unstructured and sparse, 2D images are structured and dense.…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Data plays a crucial role in training learning-based methods for 3D point cloud registration. However, the real-world dataset is expensive to build, while rendering-based synthetic data suffers from domain gaps. In this work, we present…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

Persistent Homology (PH) offers stable, multi-scale descriptors of intrinsic shape structure by capturing connected components, loops, and voids that persist across scales, providing invariants that complement purely geometric…

This work presents a new recursive robust filtering approach for feature-based 3D registration. Unlike the common state-of-the-art alignment algorithms, the proposed method has four advantages that have not yet occurred altogether in any…

Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Significant progress has been made recently in point cloud segmentation utilizing an encoder-decoder framework, which initially encodes point clouds into low-resolution representations and subsequently decodes high-resolution predictions.…