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

The growing adoption of robotics and augmented reality in real-world applications has driven considerable research interest in 3D object detection based on point clouds. While previous methods address unified training across multiple…

Recent research leveraging large-scale pretrained diffusion models has demonstrated the potential of using diffusion features to establish semantic correspondences in images. Inspired by advancements in diffusion-based techniques, we…

Point cloud data is pivotal in applications like autonomous driving, virtual reality, and robotics. However, its substantial volume poses significant challenges in storage and transmission. In order to obtain a high compression ratio,…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Learning Bird's Eye View (BEV) representation from surrounding-view cameras is of great importance for autonomous driving. In this work, we propose a Geometry-guided Kernel Transformer (GKT), a novel 2D-to-BEV representation learning…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…

This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…

Point cloud completion aims to recover accurate global geometry and preserve fine-grained local details from partial point clouds. Conventional methods typically predict unseen points directly from 3D point cloud coordinates or use…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

Thanks to the application of deep learning technology in point cloud processing of the remote sensing field, point cloud segmentation has become a research hotspot in recent years, which can be applied to real-world 3D, smart cities, and…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Probabilistic 3D point cloud registration methods have shown competitive performance in overcoming noise, outliers, and density variations. However, registering point cloud pairs in the case of partial overlap is still a challenge. This…

We introduce C-GenReg, a training-free framework for 3D point cloud registration that leverages the complementary strengths of world-scale generative priors and registration-oriented Vision Foundation Models (VFMs). Current learning-based…

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,…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

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…