相关论文: DetarNet: Decoupling Translation and Rotation by S…

Point cloud processing is very challenging, as the diverse shapes formed by irregular points are often indistinguishable. A thorough grasp of the elusive shape requires sufficiently contextual semantic information, yet few works devote to…

Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…

Siamese network based trackers formulate 3D single object tracking as cross-correlation learning between point features of a template and a search area. Due to the large appearance variation between the template and search area during…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

Point cloud-based 3D object tracking is an important task in autonomous driving. Though great advances regarding Siamese-based 3D tracking have been made recently, it remains challenging to learn the correlation between the template and…

In this work, we address the challenge of Scene Change Detection (SCD), where the goal is to identify variations between two images of the same location captured at different times. Existing SCD models often overlook the varying importance…

Alignment of contrast and non-contrast-enhanced imaging is essential for the quantification of changes in several biomedical applications. In particular, the extraction of cartilage shape from contrast-enhanced Computed Tomography (CT) of…

Soft-tissue surgeries, such as tumor resections, are complicated by tissue deformations that can obscure the accurate location and shape of tissues. By representing tissue surfaces as point clouds and applying non-rigid point cloud…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

We present a simple, flexible, and general framework titled Partial Registration Network (PRNet), for partial-to-partial point cloud registration. Inspired by recently-proposed learning-based methods for registration, we use deep networks…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…

As an essential processing step before the fusing of infrared and visible images, the performance of image registration determines whether the two images can be fused at correct spatial position. In the actual scenario, the varied imaging…

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 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…

Unsupervised point cloud shape correspondence aims to obtain dense point-to-point correspondences between point clouds without manually annotated pairs. However, humans and some animals have bilateral symmetry and various orientations,…