相关论文: Quantity-Aware Coarse-to-Fine Correspondence for I…

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.…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

The method for image-to-point cloud registration typically determines the rigid transformation using a coarse-to-fine pipeline. However, directly and uniformly matching image patches with point cloud patches may lead to focusing on…

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…

Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper,…

Semantic segmentation on point clouds is critical for 3D scene understanding. However, sparse and irregular point distributions provide limited appearance evidence, making geometry-only features insufficient to distinguish objects with…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Synthesizing photo-realistic images from a point cloud is challenging because of the sparsity of point cloud representation. Recent Neural Radiance Fields and extensions are proposed to synthesize realistic images from 2D input. In this…

Despite recent success in incorporating learning into point cloud registration, many works focus on learning feature descriptors and continue to rely on nearest-neighbor feature matching and outlier filtering through RANSAC to obtain the…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

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 registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

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…

Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold…