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

With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to…

3D vision with real-time LiDAR-based point cloud data became a vital part of autonomous system research, especially perception and prediction modules use for object classification, segmentation, and detection. Despite their success, point…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Recently, the robustification of principal component analysis has attracted lots of attention from statisticians, engineers and computer scientists. In this work we study the type of outliers that are not necessarily apparent in the…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

In this paper, we present a new method for the multiview registration of point cloud. Previous multiview registration methods rely on exhaustive pairwise registration to construct a densely-connected pose graph and apply Iteratively…

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…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

We propose a method for generalizing deep learning for 3D point cloud registration on new, totally different datasets. It is based on two components, MS-SVConv and UDGE. Using Multi-Scale Sparse Voxel Convolution, MS-SVConv is a fast deep…

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…

3D point cloud models are widely applied in safety-critical scenes, which delivers an urgent need to obtain more solid proofs to verify the robustness of models. Existing verification method for point cloud model is time-expensive and…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

Point clouds have become an increasingly important representation for 3D medical imaging, offering a compact, surface-preserving alternative to traditional voxel or mesh-based approaches. Recent advances in deep learning have enabled rapid…

Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…