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

The Discriminative Optimization (DO) algorithm has been proved much successful in 3D point cloud registration. In the original DO, the feature (descriptor) of two point cloud was defined as a histogram, and the element of histogram…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

We present PriFit, a semi-supervised approach for label-efficient learning of 3D point cloud segmentation networks. PriFit combines geometric primitive fitting with point-based representation learning. Its key idea is to learn point…

The ever-increasing 3D application makes the point cloud compression unprecedentedly important and needed. In this paper, we propose a patch-based compression process using deep learning, focusing on the lossy point cloud geometry…

We address the generalization ability of recent learning-based point cloud registration methods. Despite their success, these approaches tend to have poor performance when applied to mismatched conditions that are not well-represented in…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

Bridging 2D and 3D sensor modalities is critical for robust perception in autonomous systems. However, image-to-point cloud (I2P) registration remains challenging due to the semantic-geometric gap between texture-rich but depth-ambiguous…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Existing normal estimation methods for point clouds are often less robust to severe noise and complex geometric structures. Also, they usually ignore the contributions of different neighbouring points during normal estimation, which leads…

Shape-Text matching is an important task of high-level shape understanding. Current methods mainly represent a 3D shape as multiple 2D rendered views, which obviously can not be understood well due to the structural ambiguity caused by…

Most existing learning-based point cloud descriptors for point cloud registration focus on perceiving local information of point clouds to generate distinctive features. However, a reasonable and broader receptive field is essential for…