相关论文: Practical, Fast and Robust Point Cloud Registratio…

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,…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

Point cloud registration is the basis for many robotic applications such as odometry and Simultaneous Localization And Mapping (SLAM), which are increasingly important for autonomous mobile robots. Computational resources and power budgets…

$3$D structure recovery from a collection of $2$D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation…

3D point cloud registration is a fundamental problem in computer vision, computer graphics, robotics, remote sensing, and etc. Over the last thirty years, we have witnessed the amazing advancement in this area with numerous kinds of…

Non-rigid 3D registration, which deforms a source 3D shape in a non-rigid way to align with a target 3D shape, is a classical problem in computer vision. Such problems can be challenging because of imperfect data (noise, outliers and…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Point cloud registration is crucial for ensuring 3D alignment consistency of multiple local point clouds in 3D reconstruction for remote sensing or digital heritage. While various point cloud-based registration methods exist, both…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…

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.…

We propose a method for speeding up a 3D point cloud registration through a cascading feature extraction. The current approach with the highest accuracy is realized by iteratively executing feature extraction and registration using deep…

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 registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

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…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…