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

Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initially constructed followed by motion synchronization to…

In the domain of point cloud registration, the coarse-to-fine feature matching paradigm has received substantial attention owing to its impressive performance. This paradigm involves a two-step process: first, the extraction of multi-level…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

In the realm of point cloud registration, the most prevalent pose evaluation approaches are statistics-based, identifying the optimal transformation by maximizing the number of consistent correspondences. However, registration recall…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…

For both indoor and outdoor environments, we propose an efficient and novel method for different scales and sparse 3D point clouds registration that cannot be handled by the current popular ICP approaches. Our algorithm efficiently detects…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

Point cloud filtering, the main bottleneck of which is removing noise (outliers) while preserving geometric features, is a fundamental problem in 3D field. The two-step schemes involving normal estimation and position update have been shown…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…

We address the problem of fitting a parametric human body model (SMPL) to point cloud data. Optimization-based methods require careful initialization and are prone to becoming trapped in local optima. Learning-based methods address this but…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…