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

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…

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,…

We introduce PREDATOR, a model for pairwise point-cloud registration with deep attention to the overlap region. Different from previous work, our model is specifically designed to handle (also) point-cloud pairs with low overlap. Its key…

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…

The main goal of point cloud registration in Multi-View Partial (MVP) Challenge 2021 is to estimate a rigid transformation to align a point cloud pair. The pairs in this competition have the characteristics of low overlap, non-uniform…

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:…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

In many applications, we need algorithms which can align partially overlapping point sets and are invariant to the corresponding transformations. In this work, a method possessing such properties is realized by minimizing the objective of…

The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

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…

Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This work proposes…

Much progress has been made on the task of learning-based 3D point cloud registration, with existing methods yielding outstanding results on standard benchmarks, such as ModelNet40, even in the partial-to-partial matching scenario.…

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…

In the domain of point cloud registration, the coarse-to-fine feature matching paradigm has received substantial attention owing to its impressive performance. This paradigm involves a two-step process: first, the extraction of multi-level…

Motivation: Assessing the match between two biomolecular structures is at the heart of structural analyses such as superposition, alignment and docking. These tasks are typically solved with specialized structure-matching techniques…

As a fundamental problem in computer vision, point cloud registration aims to seek the optimal transformation for aligning a pair of point clouds. In most existing methods, the information flows are usually forward transferring, thus…

Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…