相关论文: A Strong Baseline for Point Cloud Registration via…

Although 3D point cloud data has received widespread attentions as a general form of 3D signal expression, applying point clouds to the task of dense correspondence estimation between 3D shapes has not been investigated widely. Furthermore,…

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…

Point clouds registration is a fundamental step of many point clouds processing pipelines; however, most algorithms are tested on data that are collected ad-hoc and not shared with the research community. These data often cover only a very…

We address the problem of estimating the poses of multiple instances of the source point cloud within a target point cloud. Existing solutions require sampling a lot of hypotheses to detect possible instances and reject the outliers, whose…

The discriminative feature is crucial for point cloud registration. Recent methods improve the feature discriminative by distinguishing between non-overlapping and overlapping region points. However, they still face challenges in…

Many point cloud classification methods are developed under the assumption that all point clouds in the dataset are well aligned with the canonical axes so that the 3D Cartesian point coordinates can be employed to learn features. When…

Deep neural networks have achieved significant success in 3D point cloud classification while relying on large-scale, annotated point cloud datasets, which are labor-intensive to build. Compared to capturing data with LiDAR sensors and then…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

We present a novel approach to point set registration which is based on one-shot adversarial learning. The idea of the algorithm is inspired by recent successes of generative adversarial networks. Treating the point clouds as…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision. Unlike many existing works, we do not require manual annotation of matching point clusters.…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Point cloud registration has been one of the basic steps of point cloud processing, which has a lot of applications in remote sensing and robotics. In this report, we summarized the basic workflow of target-less point cloud…

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…

Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

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 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,…

As a fundamental problem in computer vision, 3D point cloud registration (PCR) aims to seek the optimal pose to align a point cloud pair. In this paper, we present a 3D registration method with maximal cliques (MAC). The key insight is to…