相关论文: Overlap Bias Matching is Necessary for Point Cloud…

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Unsupervised point cloud shape correspondence aims to obtain dense point-to-point correspondences between point clouds without manually annotated pairs. However, humans and some animals have bilateral symmetry and various orientations,…

Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood…

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…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

Outdoor LiDAR point clouds are typically large-scale and complexly distributed. To achieve efficient and accurate registration, emphasizing the similarity among local regions and prioritizing global local-to-local matching is of utmost…

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…

Recent advances in point cloud registration mostly leverage geometric information. Although these methods have yielded promising results, they still struggle with problems of low overlap, thus limiting their practical usage. In this paper,…