相关论文: SC^2-PCR: A Second Order Spatial Compatibility for…

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

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…

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…

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…

Correspondence-based point cloud registration (PCR) plays a key role in robotics and computer vision. However, challenges like sensor noises, object occlusions, and descriptor limitations inevitably result in numerous outliers. RANSAC…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

Partial to Partial Point Cloud Registration (partial PCR) remains a challenging task, particularly when dealing with a low overlap rate. In comparison to the full-to-full registration task, we find that the objective of partial PCR is still…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Learning cross-modal correspondences is essential for image-to-point cloud (I2P) registration. Existing methods achieve this mostly by utilizing metric learning to enforce feature alignment across modalities, disregarding the inherent…

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…

We analyze the problem of determining whether 2 given point clouds in 2D, with any distinct cardinality and any number of outliers, have subsets of the same size that can be matched via a rigid motion. This problem is important, for…

Spatially-coupled (SC) codes are a class of low-density parity-check (LDPC) codes that have excellent performance thanks to the degrees of freedom they offer. An SC code is designed by partitioning a base matrix into components, the number…

Point cloud registration is a popular topic which has been widely used in 3D model reconstruction, location, and retrieval. In this paper, we propose a new registration method, KSS-ICP, to address the rigid registration task in Kendall…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…