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

We present a learning-based method for interpolating and manipulating 3D shapes represented as point clouds, that is explicitly designed to preserve intrinsic shape properties. Our approach is based on constructing a dual encoding space…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

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,…

Correlative microscopy aims at combining two or more modalities to gain more information than the one provided by one modality on the same biological structure. Registration is needed at different steps of correlative microscopies…

Point cloud is an important type of 3D representation. However, directly applying convolutions on point clouds is challenging due to the sparse, irregular and unordered data structure. In this paper, we propose a novel Interpolated…

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…

Motivated by the intuition that the critical step of localizing a 2D image in the corresponding 3D point cloud is establishing 2D-3D correspondence between them, we propose the first feature-based dense correspondence framework for…

Three-dimensional (3D) point clouds are important data representations in visualization applications. The rapidly growing utility and popularity of point cloud processing strongly motivate a plethora of research activities on large-scale…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Deep learning-based feature matching has shown great superiority for point cloud registration in the absence of pose priors. Although coarse-to-fine matching approaches are prevalent, the coarse matching of existing methods is typically…

In recent years, terrestrial laser scanning technology has been widely used to collect tree point cloud data, aiding in measurements of diameter at breast height, biomass, and other forestry survey data. Since a single scan from terrestrial…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

We present Kernel Point Convolution (KPConv), a new design of point convolution, i.e. that operates on point clouds without any intermediate representation. The convolution weights of KPConv are located in Euclidean space by kernel points,…

In this work, we propose computational models and algorithms for point cloud registration with non-rigid transformation. First, point clouds sampled from manifolds originally embedded in some Euclidean space $\mathbb{R}^D$ are transformed…

Statistical shape models are a useful tool in image processing and computer vision. A Procrustres registration of the contours of the same shape is typically perform to align the training samples to learn the statistical shape model. A…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

Iterative Closest Point (ICP) is a widely used method for performing scan-matching and registration. Being simple and robust method, it is still computationally expensive and may be challenging to use in real-time applications with limited…

We present Point2SSM, a novel unsupervised learning approach for constructing correspondence-based statistical shape models (SSMs) directly from raw point clouds. SSM is crucial in clinical research, enabling population-level analysis of…