相关论文: Reliable Inlier Evaluation for Unsupervised Point …

We propose new, and robust, loss functions for the point cloud registration problem. Our loss functions are inspired by the Best Buddies Similarity (BBS) measure that counts the number of mutual nearest neighbors between two point sets.…

Unsupervised change detection between airborne LiDAR data points, taken at separate times over the same location, can be difficult due to unmatching spatial support and noise from the acquisition system. Most current approaches to detect…

We propose an unsupervised learning framework with the pretext task of finding dense correspondences between point cloud shapes from the same category based on the cycle-consistency formulation. In order to learn discriminative pointwise…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

Point clouds captured in real-world applications are often incomplete due to the limited sensor resolution, single viewpoint, and occlusion. Therefore, recovering the complete point clouds from partial ones becomes an indispensable task in…

The performance of surface registration relies heavily on the metric used for the alignment error between the source and target shapes. Traditionally, such a metric is based on the point-to-point or point-to-plane distance from the points…

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…

Estimating the normal of a point requires constructing a local patch to provide center-surrounding context, but determining the appropriate neighborhood size is difficult when dealing with different data or geometries. Existing methods…

Unsupervised registration strategies bypass requirements in ground truth transforms or segmentations by optimising similarity metrics between fixed and moved volumes. Among these methods, a recent subclass of approaches based on…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

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…

In unsupervised adaptation for vision-language models such as CLIP, pseudo-labels derived from zero-shot predictions often exhibit significant noise, particularly under domain shifts or in visually complex scenarios. Conventional…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

We introduce an unsupervised multi-task model to jointly learn point and shape features on point clouds. We define three unsupervised tasks including clustering, reconstruction, and self-supervised classification to train a multi-scale…

Most real-world 3D measurements from depth sensors are incomplete, and to address this issue the point cloud completion task aims to predict the complete shapes of objects from partial observations. Previous works often adapt an…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

Anomaly detection based on 3D point cloud data is an important research problem and receives more and more attention recently. Untrained anomaly detection based on only one sample is an emerging research problem motivated by real…

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…