相关论文: Learning Dense Features for Point Cloud Registrati…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Understanding the implication of point cloud is still challenging to achieve the goal of classification or segmentation due to the irregular and sparse structure of point cloud. As we have known, PointNet architecture as a ground-breaking…

Point cloud registration is the basis for many robotic applications such as odometry and Simultaneous Localization And Mapping (SLAM), which are increasingly important for autonomous mobile robots. Computational resources and power budgets…

Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…

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…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

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…

This paper proposes a Graph Neural Network(GNN)-based method for exploiting semantics and local geometry to guide the identification of reliable pointcloud registration candidates. Semantic and morphological features of the environment…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Deep learning offers a promising avenue for automating many recognition tasks in fields such as medicine and forensics. However, the black-box nature of these models hinders their adoption in high-stakes applications where trust and…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

With the proliferation of Lidar sensors and 3D vision cameras, 3D point cloud analysis has attracted significant attention in recent years. After the success of the pioneer work PointNet, deep learning-based methods have been increasingly…

Previous studies have demonstrated the effectiveness of point-based neural models on the point cloud analysis task. However, there remains a crucial issue on producing the efficient input embedding for raw point coordinates. Moreover,…