相关论文: CoBigICP: Robust and Precise Point Set Registratio…

Coherent Point Drift (CPD) is a representative probabilistic framework for unsupervised non-rigid point set registration. Its standard non-rigid M-step, however, relies on a point-indexed Gaussian-kernel system whose size grows with the…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

In point clouds, noise directly perturbs point coordinates that encode both spatial location and geometry, making one-to-one correspondence construction more challenging than in images. Existing methods impose statistical mappings across…

Accurate noninvasive estimation of intracranial pressure (ICP) remains a major challenge in critical care. We developed a bespoke machine learning algorithm that integrates system identification and ranking-constrained optimization to…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

This paper proposed a bias-compensated normalized maximum correntropy criterion (BCNMCC) algorithm charactered by its low steady-state misalignment for system identification with noisy input in an impulsive output noise environment. The…

This paper investigates a multi-terminal source coding problem under a logarithmic loss fidelity which does not necessarily lead to an additive distortion measure. The problem is motivated by an extension of the Information Bottleneck…

We present novel methods to perform plenoptic imaging at the diffraction limit by measuring intensity correlations of light. The first method is oriented towards plenoptic microscopy, a promising technique which allows refocusing and…

Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…

Depth imaging has largely focused on sensor and intrinsics properties. However, the accuracy of acquire pixel is largely dependent on the capture. We propose a new depth estimation and approximation algorithm which takes an arbitrary 3D…

In this paper, we propose the USIP detector: an Unsupervised Stable Interest Point detector that can detect highly repeatable and accurately localized keypoints from 3D point clouds under arbitrary transformations without the need for any…

This paper presents a novel self-supervised approach to reconstruct human shape and pose from noisy point cloud data. Relying on large amount of dataset with ground-truth annotations, recent learning-based approaches predict correspondences…

Bootstrap is a principled and powerful frequentist statistical tool for uncertainty quantification. Unfortunately, standard bootstrap methods are computationally intensive due to the need of drawing a large i.i.d. bootstrap sample to…

Learning from bounding-boxes annotations has shown great potential in weakly-supervised 3D point cloud instance segmentation. However, we observed that existing methods would suffer severe performance degradation with perturbed bounding box…

Iterative methods such as iterative closest point (ICP) for point cloud registration often suffer from bad local optimality (e.g. saddle points), due to the nature of nonconvex optimization. To address this fundamental challenge, in this…

Conformal prediction (CP) provides finite-sample, distribution-free marginal coverage, but standard conformal regression intervals can be inefficient under heteroscedasticity and skewness. In particular, popular constructions such as…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

We study the problem of extracting correspondences between a pair of point clouds for registration. For correspondence retrieval, existing works benefit from matching sparse keypoints detected from dense points but usually struggle to…

In this paper, we propose a new algorithm based on radial symmetry center method to track colloidal particles close to contact, where the optical images of the particles start to overlap in digital video microscopy. This overlapping effect…

In this work, we investigate the problem of measuring a the centre checkerboard target in an 3D point cloud. This is an important problem which has applications in registration, long term monitoring and linking to other sensor systems. We…