相关论文: KSS-ICP: Point Cloud Registration based on Kendall…

Image-to-point-cloud (I2P) registration aims to align 2D images with 3D point clouds by establishing reliable 2D-3D correspondences. The drastic modality gap between images and point clouds makes it challenging to learn features that are…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

The processing, storage and transmission of large-scale point clouds is an ongoing challenge in the computer vision community which hinders progress in the application of 3D models to real-world settings, such as autonomous driving, virtual…

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…

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…

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…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Point-cloud data acquired using a terrestrial laser scanner (TLS) play an important role in digital forestry research. Multiple scans are generally used to overcome occlusion effects and obtain complete tree structural information. However,…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

Point cloud-based motion capture leverages rich spatial geometry and privacy-preserving sensing, but learning robust representations from noisy, unstructured point clouds remains challenging. Existing approaches face a struggle trade-off…

Recent advances in deep learning have improved 3D point cloud registration but increased graphics processing unit (GPU) memory usage, often requiring preliminary sampling that reduces accuracy. We propose an overlapping region sampling…

An unsupervised point cloud registration method, called salient points analysis (SPA), is proposed in this work. The proposed SPA method can register two point clouds effectively using only a small subset of salient points. It first applies…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame,…

Surface reconstruction from point clouds is a fundamental step in many applications in computer vision. In this paper, we develop an efficient iterative method on a variational model for the surface reconstruction from point clouds. The…

The fusion of Iterative Closest Point (ICP) reg- istrations in existing state estimation frameworks relies on an accurate estimation of their uncertainty. In this paper, we study the estimation of this uncertainty in the form of a…