相关论文: RIGA: Rotation-Invariant and Globally-Aware Descri…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

Recent progresses in 3D deep learning has shown that it is possible to design special convolution operators to consume point cloud data. However, a typical drawback is that rotation invariance is often not guaranteed, resulting in networks…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

We present a simple but yet effective method for learning distinctive 3D local deep descriptors (DIPs) that can be used to register point clouds without requiring an initial alignment. Point cloud patches are extracted, canonicalised with…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seasonal changes. To further improve the localization under large…

Point cloud shape completion is a challenging problem in 3D vision and robotics. Existing learning-based frameworks leverage encoder-decoder architectures to recover the complete shape from a highly encoded global feature vector. Though the…

We present a new local descriptor for 3D shapes, directly applicable to a wide range of shape analysis problems such as point correspondences, semantic segmentation, affordance prediction, and shape-to-scan matching. The descriptor is…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

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…

Establishing accurate 3D correspondences between shapes stands as a pivotal challenge with profound implications for computer vision and robotics. However, existing self-supervised methods for this problem assume perfect input shape…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

Semantic segmentation of point clouds generates comprehensive understanding of scenes through densely predicting the category for each point. Due to the unicity of receptive field, semantic segmentation of point clouds remains challenging…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Visual Place Recognition (VPR) demands representations robust to drastic environmental and viewpoint shifts. Existing aggregation paradigms either depend on extensive supervised training or rely on first-order pooling, often struggling to…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…