相关论文: Lepard: Learning partial point cloud matching in r…

The interest in matching non-rigidly deformed shapes represented as raw point clouds is rising due to the proliferation of low-cost 3D sensors. Yet, the task is challenging since point clouds are irregular and there is a lack of intrinsic…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

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…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where…

We propose a novel technique for producing high-quality 3D models that match a given target object image or scan. Our method is based on retrieving an existing shape from a database of 3D models and then deforming its parts to match the…

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.…

The scale and quality of point cloud datasets constrain the advancement of point cloud learning. Recently, with the development of multi-modal learning, the incorporation of domain-agnostic prior knowledge from other modalities, such as…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

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…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…