相关论文: A Representation Separation Perspective to Corresp…

In real-world scenarios, scanned point clouds are often incomplete due to occlusion issues. The tasks of self-supervised and weakly-supervised point cloud completion involve reconstructing missing regions of these incomplete objects without…

Shape registration is the process of aligning one 3D model to another. Most previous methods to align shapes with no known correspondences attempt to solve for both the transformation and correspondences iteratively. We present a shape…

In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical…

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…

Motivated by the intuition that one can transform two aligned point clouds to each other more easily and meaningfully than a misaligned pair, we propose CorrNet3D -- the first unsupervised and end-to-end deep learning-based framework -- to…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Deep point cloud registration methods face challenges to partial overlaps and rely on labeled data. To address these issues, we propose UDPReg, an unsupervised deep probabilistic registration framework for point clouds with partial…

We present Lepard, a Learning based approach for partial point cloud matching in rigid and deformable scenes. The key characteristics are the following techniques that exploit 3D positional knowledge for point cloud matching: 1) An…

Three-dimensional (3D) fingerprints preserve global finger geometry and local ridge structure while avoiding contact-induced deformation, but they remain difficult to integrate with legacy two-dimensional (2D) fingerprint systems. This…

Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques,…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Unsupervised learning on 3D point clouds has undergone a rapid evolution, especially thanks to data augmentation-based contrastive methods. However, data augmentation is not ideal as it requires a careful selection of the type of…

Surface reconstruction for point clouds is an important task in 3D computer vision. Most of the latest methods resolve this problem by learning signed distance functions from point clouds, which are limited to reconstructing closed…

We present, for the first time, a novel theoretical approach to address the problem of correspondence free multivector cloud registration in conformal geometric algebra. Such formalism achieves several favorable properties. Primarily, it…

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…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

Representing 3D shape in deep learning frameworks in an accurate, efficient and compact manner still remains an open challenge. Most existing work addresses this issue by employing voxel-based representations. While these approaches benefit…