相关论文: Robust Partial-to-Partial Point Cloud Registration…

We address the challenge of point cloud registration using color information, where traditional methods relying solely on geometric features often struggle in low-overlap and incomplete scenarios. To overcome these limitations, we propose…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

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 cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

For many driving safety applications, it is of great importance to accurately register LiDAR point clouds generated on distant moving vehicles. However, such point clouds have extremely different point density and sensor perspective on the…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

Geometric constraints between feature matches are critical in 3D point cloud registration problems. Existing approaches typically model unordered matches as a consistency graph and sample consistent matches to generate hypotheses. However,…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

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…