相关论文: Robust Extrinsic Symmetry Estimation in 3D Point C…

We propose an algorithm to detect approximate reflection symmetry present in a set of volumetrically distributed points belonging to $\mathbb{R}^d$ containing a distorted reflection symmetry pattern. We pose the problem of detecting…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

Point clouds are vital in computer vision tasks such as 3D reconstruction, autonomous driving, and robotics. However, TLS-acquired point clouds often contain virtual points from reflective surfaces, causing disruptions. This study presents…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

Symmetry detection, especially partial and extrinsic symmetry, is essential for various downstream tasks, like 3D geometry completion, segmentation, compression and structure-aware shape encoding or generation. In order to detect partial…

Recent advances have shown that symmetry, a structural prior that most objects exhibit, can support a variety of single-view 3D understanding tasks. However, detecting 3D symmetry from an image remains a challenging task. Previous works…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

This paper presents a novel method for fully automatic and convenient extrinsic calibration of a 3D LiDAR and a panoramic camera with a normally printed chessboard. The proposed method is based on the 3D corner estimation of the chessboard…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

In geometry processing, symmetry is a universal type of high-level structural information of 3D models and benefits many geometry processing tasks including shape segmentation, alignment, matching, and completion. Thus it is an important…

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…

Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Reflective surfaces present a persistent challenge for reliable 3D mapping and perception in robotics and autonomous systems. However, existing reflection datasets and benchmarks remain limited to sparse 2D data. This paper introduces the…

Many objects are naturally symmetric, and this symmetry can be exploited to infer unseen 3D properties from a single 2D image. Recently, NeRD is proposed for accurate 3D mirror plane estimation from a single image. Despite the unprecedented…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…