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

High-confidence overlap prediction and accurate correspondences are critical for cutting-edge models to align paired point clouds in a partial-to-partial manner. However, there inherently exists uncertainty between the overlapping and…

The task of learning from point cloud data is always challenging due to the often occurrence of noise and outliers in the data. Such data inaccuracies can significantly influence the performance of state-of-the-art deep learning networks…

Three-dimensional data registration is an established yet challenging problem that is key in many different applications, such as mapping the environment for autonomous vehicles, and modeling objects and people for avatar creation, among…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

Correspondence-based point cloud registration is a cornerstone in robotics perception and computer vision, which seeks to estimate the best rigid transformation aligning two point clouds from the putative correspondences. However, due to…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Noisy, partially overlapping data and the need for real-time processing pose major challenges for rigid registration. Considering that feature-based matching can handle large transformation differences but suffers from limited accuracy,…

Unlike its image based counterpart, point cloud based retrieval for place recognition has remained as an unexplored and unsolved problem. This is largely due to the difficulty in extracting local feature descriptors from a point cloud that…

3D point-cloud recognition with PointNet and its variants has received remarkable progress. A missing ingredient, however, is the ability to automatically evaluate point-wise importance w.r.t.\! classification performance, which is usually…

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…

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…

Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…

Deep Neural Networks (DNNs) for 3D point cloud recognition are vulnerable to adversarial examples, threatening their practical deployment. Despite the many research endeavors have been made to tackle this issue in recent years, the…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Pre-training a model and then fine-tuning it on downstream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial…

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…

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…