相关论文: Multimodal Colored Point Cloud to Image Alignment

3D model generation from single 2D RGB images is a challenging and actively researched computer vision task. Various techniques using conventional network architectures have been proposed for the same. However, the body of research work is…

Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric structures, making them essential for manipulation tasks in…

Point cloud coding solutions have been recently standardized to address the needs of multiple application scenarios. The design and assessment of point cloud coding methods require reliable objective quality metrics to evaluate the level of…

Point clouds or depth images captured by current RGB-D cameras often suffer from low resolution, rendering them insufficient for applications such as 3D reconstruction and robots. Existing point cloud super-resolution (PCSR) methods are…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

With the growth of 3D applications and the rapid increase in sensor-collected 3D point cloud data, there is a rising demand for efficient compression algorithms. Most existing learning-based compression methods handle geometry and color…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

Reconstructing the 3D shape of an object from a single RGB image is a long-standing and highly challenging problem in computer vision. In this paper, we propose a novel method for single-image 3D reconstruction which generates a sparse…

Realistic color texture generation is an important step in RGB-D surface reconstruction, but remains challenging in practice due to inaccuracies in reconstructed geometry, misaligned camera poses, and view-dependent imaging artifacts. In…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

The rapid development of 3D acquisition technology has made it possible to obtain point clouds of real-world terrains. However, due to limitations in sensor acquisition technology or specific requirements, point clouds often contain defects…

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the…