相关论文: Category-Level Global Camera Pose Estimation with …

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,…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in…

Detection-free methods typically follow a coarse-to-fine pipeline, extracting image and point cloud features for patch-level matching and refining dense pixel-to-point correspondences. However, differences in feature channel attention…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

In point clouds, noise directly perturbs point coordinates that encode both spatial location and geometry, making one-to-one correspondence construction more challenging than in images. Existing methods impose statistical mappings across…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

This paper surveys and evaluates some popular state of the art methods for algorithmic curvature and normal estimation. In addition to surveying existing methods we also propose a new method for robust curvature estimation and evaluate it…

Existing object pose estimation methods commonly require a one-to-one point matching step that forces them to be separated into two consecutive stages: visual correspondence detection (e.g., by matching feature descriptors as part of a…

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…