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

In this paper we propose a rotation-invariant deep network for point clouds analysis. Point-based deep networks are commonly designed to recognize roughly aligned 3D shapes based on point coordinates, but suffer from performance drops with…

Learning semantic representations from point sets of 3D object shapes is often challenged by significant geometric variations, primarily due to differences in data acquisition methods. Typically, training data is generated using point…

The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Inspired by the recent PointHop classification method, an unsupervised 3D point cloud registration method, called R-PointHop, is proposed in this work. R-PointHop first determines a local reference frame (LRF) for every point using its…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

In spite of the recent progresses on classifying 3D point cloud with deep CNNs, large geometric transformations like rotation and translation remain challenging problem and harm the final classification performance. To address this…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Oriented object detection, an emerging task in recent years, aims to identify and locate objects across varied orientations. This requires the detector to accurately capture the orientation information, which varies significantly within and…

In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of…

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…

Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…

Representing 3D scenes from multiview images is a core challenge in computer vision and graphics, which requires both precise rendering and accurate reconstruction. Recently, 3D Gaussian Splatting (3DGS) has garnered significant attention…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

To overcome the restriction of identical distribution assumption, invariant representation learning for unsupervised domain adaptation (UDA) has made significant advances in computer vision and pattern recognition communities. In UDA…

Although recent efforts have extended Neural Radiance Fields (NeRF) into LiDAR point cloud synthesis, the majority of existing works exhibit a strong dependence on precomputed poses. However, point cloud registration methods struggle to…