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

The method for image-to-point cloud registration typically determines the rigid transformation using a coarse-to-fine pipeline. However, directly and uniformly matching image patches with point cloud patches may lead to focusing on…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

3D vision with real-time LiDAR-based point cloud data became a vital part of autonomous system research, especially perception and prediction modules use for object classification, segmentation, and detection. Despite their success, point…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

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…

In image-guided liver surgery, the initial rigid alignment between preoperative and intraoperative data, often represented as point clouds, is crucial for providing sub-surface information from preoperative CT/MRI images to the surgeon…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

This paper introduces a new hybrid descriptor for 3D point matching and point cloud registration, combining local geometrical properties and learning-based feature propagation for each point's neighborhood structure description. The…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…

The recent trend in deep learning methods for 3D point cloud understanding is to propose increasingly sophisticated architectures either to better capture 3D geometries or by introducing possibly undesired inductive biases. Moreover, prior…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

Even though considerable progress has been made in deep learning-based 3D point cloud processing, how to obtain accurate correspondences for robust registration remains a major challenge because existing hard assignment methods cannot deal…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Point cloud registration is a fundamental problem in many domains. Practically, the overlap between point clouds to be registered may be relatively small. Most unsupervised methods lack effective initial evaluation of overlap, leading to…

This paper introduces HPNet, a novel deep-learning approach for segmenting a 3D shape represented as a point cloud into primitive patches. The key to deep primitive segmentation is learning a feature representation that can separate points…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…