相关论文: Coarse-to-Fine Point Cloud Registration with SE(3)…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

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…

Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…

We propose a method for 3D shape reconstruction from unoriented point clouds. Our method consists of a novel SE(3)-equivariant coordinate-based network (TF-ONet), that parametrizes the occupancy field of the shape and respects the inherent…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

Efficiency and robustness are increasingly needed for applications on 3D point clouds, with the ubiquitous use of edge devices in scenarios like autonomous driving and robotics, which often demand real-time and reliable responses. The paper…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

We propose a method for speeding up a 3D point cloud registration through a cascading feature extraction. The current approach with the highest accuracy is realized by iteratively executing feature extraction and registration using deep…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

Many point cloud classification methods are developed under the assumption that all point clouds in the dataset are well aligned with the canonical axes so that the 3D Cartesian point coordinates can be employed to learn features. When…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

A truly generalizable approach to rigid segmentation and motion estimation is fundamental to 3D understanding of articulated objects and moving scenes. In view of the closely intertwined relationship between segmentation and motion…

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 is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…