相关论文: Multi-instance Point Cloud Registration by Efficie…

Deep models trained with noisy labels are prone to over-fitting and struggle in generalization. Most existing solutions are based on an ideal assumption that the label noise is class-conditional, i.e., instances of the same class share the…

We analyze the problem of determining whether 2 given point clouds in 2D, with any distinct cardinality and any number of outliers, have subsets of the same size that can be matched via a rigid motion. This problem is important, for…

Leveraging the powerful representation learning capabilities, deep multi-view clustering methods have demonstrated reliable performance by effectively integrating multi-source information from diverse views in recent years. Most existing…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

Clustering with outliers is one of the most fundamental problems in Computer Science. Given a set $X$ of $n$ points and two integers $k$ and $m$, the clustering with outliers aims to exclude $m$ points from $X$ and partition the remaining…

We consider the problem of clustering noisy high-dimensional data points into a union of low-dimensional subspaces and a set of outliers. The number of subspaces, their dimensions, and their orientations are unknown. A probabilistic…

Instance segmentation on point clouds is a fundamental task in 3D scene perception. In this work, we propose a concise clustering-based framework named HAIS, which makes full use of spatial relation of points and point sets. Considering…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

Generally, there are three main factors that determine the practical usability of registration, i.e., accuracy, robustness, and efficiency. In real-time applications, efficiency and robustness are more important. To promote these two…

How can we detect outliers, both scattered and clustered, and also explicitly assign them to respective micro-clusters, without knowing apriori how many micro-clusters exist? How can we perform both tasks in-house, i.e., without any…

Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initially constructed followed by motion synchronization to…

Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

Existing 3D instance segmentation methods are predominated by the bottom-up design -- manually fine-tuned algorithm to group points into clusters followed by a refinement network. However, by relying on the quality of the clusters, these…

Clustering has many important applications in computer science, but real-world datasets often contain outliers. Moreover, the presence of outliers can make the clustering problems to be much more challenging. To reduce the complexities,…

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:…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

Clustering is a fundamental problem in data analysis. In differentially private clustering, the goal is to identify $k$ cluster centers without disclosing information on individual data points. Despite significant research progress, the…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…