相关论文: HybridPoint: Point Cloud Registration Based on Hyb…

Outdoor LiDAR point clouds are typically large-scale and complexly distributed. To achieve efficient and accurate registration, emphasizing the similarity among local regions and prioritizing global local-to-local matching is of utmost…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

As 3D point cloud analysis has received increasing attention, the insufficient scale of point cloud datasets and the weak generalization ability of networks become prominent. In this paper, we propose a simple and effective augmentation…

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…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

Semantic segmentation of point cloud usually relies on dense annotation that is exhausting and costly, so it attracts wide attention to investigate solutions for the weakly supervised scheme with only sparse points annotated. Existing works…

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…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

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…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

Point clouds are often sparse and incomplete. Existing shape completion methods are incapable of generating details of objects or learning the complex point distributions. To this end, we propose a cascaded refinement network together with…

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 (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Most existing 3D geometry copy detection research focused on 3D watermarking, which first embeds ``watermarks'' and then detects the added watermarks. However, this kind of methods is non-straightforward and may be less robust to attacks…

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…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…