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

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

3D computer vision models are commonly used in security-critical applications such as autonomous driving and surgical robotics. Emerging concerns over the robustness of these models against real-world deformations must be addressed…

Previous works have shown that face recognition with high accurate 3D data is more reliable and insensitive to pose and illumination variations. Recently, low-cost and portable 3D acquisition techniques like ToF(Time of Flight) and DoE…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

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…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale LiDAR registration methods has been rarely explored before. Challenges mainly arise from the huge point scale, complex point…

3D point cloud is an important 3D representation for capturing real world 3D objects. However, real-scanned 3D point clouds are often incomplete, and it is important to recover complete point clouds for downstream applications. Most…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Recently MLP-based methods have shown strong performance in point cloud analysis. Simple MLP architectures are able to learn geometric features in local point groups yet fail to model long-range dependencies directly. In this paper, we…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and…

Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it…

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

Keypoint detector and descriptor are two main components of point cloud registration. Previous learning-based keypoint detectors rely on saliency estimation for each point or farthest point sample (FPS) for candidate points selection, which…

We propose 3DSmoothNet, a full workflow to match 3D point clouds with a siamese deep learning architecture and fully convolutional layers using a voxelized smoothed density value (SDV) representation. The latter is computed per interest…

We present a simple, flexible, and general framework titled Partial Registration Network (PRNet), for partial-to-partial point cloud registration. Inspired by recently-proposed learning-based methods for registration, we use deep networks…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…