相关论文: Q-REG: End-to-End Trainable Point Cloud Registrati…

Existing 3D multi-object tracking (MOT) methods often sacrifice efficiency and generalizability for robustness, largely relying on complex association metrics derived from multi-modal architectures and class-specific motion priors.…

We introduce neural cortical maps, a continuous and compact neural representation for cortical feature maps, as an alternative to traditional discrete structures such as grids and meshes. It can learn from meshes of arbitrary size and…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

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…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

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…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

Non-rigid point cloud registration is a crucial task in computer vision. Evaluating a non-rigid point cloud registration method requires a dataset with challenges such as large deformation levels, noise, outliers, and incompleteness.…

Point cloud registration has been one of the basic steps of point cloud processing, which has a lot of applications in remote sensing and robotics. In this report, we summarized the basic workflow of target-less point cloud…

This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions in a reproducing kernel Hilbert space (RKHS), leveraging…

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…

We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans. Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…

Point cloud registration is a foundational task for 3D alignment and reconstruction applications. While both traditional and learning-based registration approaches have succeeded, leveraging the intrinsic symmetry of point cloud data,…

In this paper, we propose an algorithm for registering sequential bounding boxes with point cloud streams. Unlike popular point cloud registration techniques, the alignment of the point cloud and the bounding box can rely on the properties…

Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse…