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

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

This prospective study proposes CoMatch, a novel semi-dense image matcher with dynamic covisibility awareness and bilateral subpixel accuracy. Firstly, observing that modeling context interaction over the entire coarse feature map elicits…

We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…

We propose a fast, accurate matching method for estimating dense pixel correspondences across scenes. It is a challenging problem to estimate dense pixel correspondences between images depicting different scenes or instances of the same…

3D perception of object shapes from RGB image input is fundamental towards semantic scene understanding, grounding image-based perception in our spatially 3-dimensional real-world environments. To achieve a mapping between image views of…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…

Establishing dense correspondences between shapes is a crucial task in computer vision and graphics, while prior approaches depend on near-isometric assumptions and homogeneous subject types (i.e., only operate for human shapes). However,…

Relative colour constancy is an essential requirement for many scientific imaging applications. However, most digital cameras differ in their image formations and native sensor output is usually inaccessible, e.g., in smartphone camera…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

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…

Establishing reliable image correspondences is essential for many robotic vision problems. However, existing methods often struggle in challenging scenarios with large viewpoint changes or textureless regions, where incorrect cor-…

This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…

Finding correspondences is a fundamental and extensively researched problem in computer vision and graphics. In this work, we examine the underexplored task of estimating segmentation-to-segmentation correspondence between images in the…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…