相关论文: Improving RGB-D Point Cloud Registration by Learni…

The trend of employing training-free methods for point cloud recognition is becoming increasingly popular due to its significant reduction in computational resources and time costs. However, existing approaches are limited as they typically…

This paper introduces a new hybrid descriptor for 3D point matching and point cloud registration, combining local geometrical properties and learning-based feature propagation for each point's neighborhood structure description. The…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

In this paper, we present DV-Matcher, a novel learning-based framework for estimating dense correspondences between non-rigidly deformable point clouds. Learning directly from unstructured point clouds without meshing or manual labelling,…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

The point cloud representation of an object can have a large geometric variation in view of inconsistent data acquisition procedure, which thus leads to domain discrepancy due to diverse and uncontrollable shape representation cross…

In recent years, point clouds have become increasingly popular for representing three-dimensional (3D) visual objects and scenes. To efficiently store and transmit point clouds, compression methods have been developed, but they often result…

3D generative modeling is accelerating as the technology allowing the capture of geometric data is developing. However, the acquired data is often inconsistent, resulting in unregistered meshes or point clouds. Many generative learning…

3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

Point cloud compression significantly reduces data volume but sacrifices reconstruction quality, highlighting the need for advanced quality enhancement techniques. Most existing approaches focus primarily on point-to-point fidelity, often…

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…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

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…

In large-scale metric localization, an incorrect result during retrieval will lead to an incorrect pose estimate or loop closure. Re-ranking methods propose to take into account all the top retrieval candidates and re-order them to increase…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…