相关论文: G3Reg: Pyramid Graph-based Global Registration usi…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

A Gaussian Process GP based ground segmentation method is proposed in this paper which is fully developed in a probabilistic framework. The proposed method tends to obtain a continuous realistic model of the ground. The LiDAR…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

Recently, Gaussian splatting has demonstrated significant success in novel view synthesis. Current methods often regress Gaussians with pixel or point cloud correspondence, linking each Gaussian with a pixel or a 3D point. This leads to the…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences. We first reformulate the registration problem using a Truncated Least Squares…

Registration of multi-view point sets is a prerequisite for 3D model reconstruction. To solve this problem, most of previous approaches either partially explore available information or blindly utilize unnecessary information to align each…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

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…

This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local…

In recent years, parametric representations of point clouds have been widely applied in tasks such as memory-efficient mapping and multi-robot collaboration. Highly adaptive models, like spline surfaces or quadrics, are computationally…

3D point cloud (PC) -- a collection of discrete geometric samples of a physical object's surface -- is typically large in size, which entails expensive subsequent operations like viewpoint image rendering and object recognition. Leveraging…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Storage and transmission challenges in dynamic 3D scene representation based on the i3DV platform, With increasing scene complexity, the explosive growth of 3D Gaussian data volume causes excessive storage space occupancy. To address this…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

This work addresses the problem of non-rigid registration of 3D scans, which is at the core of shape modeling techniques. Firstly, we propose a new kernel based on geodesic distances for the Gaussian Process Morphable Models (GPMMs)…

As a fundamental problem in computer vision, 3D point cloud registration (PCR) aims to seek the optimal pose to align a point cloud pair. In this paper, we present a 3D registration method with maximal cliques (MAC). The key insight is to…

State-of-the-art LiDAR calibration frameworks mainly use non-probabilistic registration methods such as Iterative Closest Point (ICP) and its variants. These methods suffer from biased results due to their pair-wise registration procedure…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…