相关论文: Reliable Inlier Evaluation for Unsupervised Point …

In this paper, we introduce a new outlier removal method that fully leverages geometric and semantic information, to achieve robust registration. Current semantic-based registration methods only use semantics for point-to-point or instance…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

In recent years, zero-shot learning has attracted the focus of many researchers, due to its flexibility and generality. Many approaches have been proposed to achieve the zero-shot classification of the point clouds for 3D object…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

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…

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.…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Learning-based outlier (mismatched correspondence) rejection for robust 3D registration generally formulates the outlier removal as an inlier/outlier classification problem. The core for this to be successful is to learn the discriminative…

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…

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…

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…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…

We present an iterative overlap estimation technique to augment existing point cloud registration algorithms that can achieve high performance in difficult real-world situations where large pose displacement and non-overlapping geometry…

Low-overlap point cloud registration (PCR) remains a significant challenge in 3D vision. Traditional evaluation metrics, such as Maximum Inlier Count, become ineffective under extremely low inlier ratios. In this paper, we revisit the…