相关论文: RDMNet: Reliable Dense Matching Based Point Cloud …

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

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…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

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…

We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans. Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…

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…

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…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

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…

Establishing accurate and representative matches is a crucial step in addressing the point cloud registration problem. A commonly employed approach involves detecting keypoints with salient geometric features and subsequently mapping these…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

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…

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…

Efficiently identifying accurate correspondences between point clouds is crucial for both rigid and non-rigid point cloud registration. Existing methods usually rely on geometric or semantic feature embeddings to establish correspondences…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…