相关论文: A Single Correspondence Is Enough: Robust Global R…

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Obtaining enough high-quality correspondences is crucial for robust registration. Existing correspondence refinement methods mostly follow the paradigm of outlier removal, which either fails to correctly identify the accurate…

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity…

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.…

The rigid registration of two 3D point sets is a fundamental problem in computer vision. The current trend is to solve this problem globally using the BnB optimization framework. However, the existing global methods are slow for two main…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

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…

Three-dimensional data registration is an established yet challenging problem that is key in many different applications, such as mapping the environment for autonomous vehicles, and modeling objects and people for avatar creation, among…

Establishing reliable correspondences is essential for registration tasks such as 3D and 2D3D registration. Existing methods commonly leverage geometric or semantic point features to generate potential correspondences. However, these…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

We propose PHASER, a correspondence-free global registration of sensor-centric pointclouds that is robust to noise, sparsity, and partial overlaps. Our method can seamlessly handle multimodal information and does not rely on keypoint nor…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

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…

A novel solution is obtained to solve the rigid 3D registration problem, motivated by previous eigen-decomposition approaches. Different from existing solvers, the proposed algorithm does not require sophisticated matrix operations e.g.…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…