相关论文: Rethinking Rotation Invariance with Point Cloud Re…

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

Learning non-rigid registration in an end-to-end manner is challenging due to the inherent high degrees of freedom and the lack of labeled training data. In this paper, we resolve these two challenges simultaneously. First, we propose to…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved 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…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

This paper proposes a correspondence-free method for point cloud rotational registration. We learn an embedding for each point cloud in a feature space that preserves the SO(3)-equivariance property, enabled by recent developments in…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Pointwise…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

In many practical applications, 3D point cloud analysis requires rotation invariance. In this paper, we present a learnable descriptor invariant under 3D rotations and reflections, i.e., the O(3) actions, utilizing the recently introduced…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Point cloud registration plays a critical role in a multitude of computer vision tasks, such as pose estimation and 3D localization. Recently, a plethora of deep learning methods were formulated that aim to tackle this problem. Most of…

In this paper, we propose a transformer-based procedure for the efficient registration of non-rigid 3D point clouds. The proposed approach is data-driven and adopts for the first time the transformer architecture in the registration task.…

Recent advances in rotation-invariant (RI) learning for 3D point clouds typically replace raw coordinates with handcrafted RI features to ensure robustness under arbitrary rotations. However, these approaches often suffer from the loss of…

Point clouds are versatile representations of 3D objects and have found widespread application in science and engineering. Many successful deep-learning models have been proposed that use them as input. The domain of chemical and materials…