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

Most of the existing handcrafted and learning-based local descriptors are still at best approximately invariant to affine image transformations, often disregarding deformable surfaces. In this paper, we take one step further by proposing a…

Deep learning-based point cloud registration models are often generalized from extensive training over a large volume of data to learn the ability to predict the desired geometric transformation to register 3D point clouds. In this paper,…

We address the challenge of point cloud registration using color information, where traditional methods relying solely on geometric features often struggle in low-overlap and incomplete scenarios. To overcome these limitations, we propose…

Point cloud registration (PCR) is a fundamental task in 3D vision and provides essential support for applications such as autonomous driving, robotics, and environmental modeling. Despite its widespread use, existing methods often fail when…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

In this paper, we unify popular non-rigid registration methods for point sets and surfaces under our general framework, GiNGR. GiNGR builds upon Gaussian Process Morphable Models (GPMM) and hence separates modeling the deformation prior…

Neural Radiance Fields (NeRF) have achieved photorealistic novel views synthesis; however, the requirement of accurate camera poses limits its application. Despite analysis-by-synthesis extensions for jointly learning neural 3D…

Two-view correspondence learning is a key task in computer vision, which aims to establish reliable matching relationships for applications such as camera pose estimation and 3D reconstruction. However, existing methods have limitations in…

Rotation-invariant (RI) 3D deep learning methods suffer performance degradation as they typically design RI representations as input that lose critical global information comparing to 3D coordinates. Most state-of-the-arts address it by…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Automatically identifying feature correspondences between multimodal images is facing enormous challenges because of the significant differences both in radiation and geometry. To address these problems, we propose a novel feature matching…

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…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

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…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

Balancing accuracy and latency on high-resolution images is a critical challenge for lightweight models, particularly for Transformer-based architectures that often suffer from excessive latency. To address this issue, we introduce…

Learning non-rigid registration in an end-to-end manner is challenging due to the inherent high degrees of freedom and the lack of labeled training data. In this paper, we resolve these two challenges simultaneously. First, we propose to…