相关论文: OAAFormer: Robust and Efficient Point Cloud Regist…

The Transformer-based model have made significant strides in semantic matching tasks by capturing connections between phrase pairs. However, to assess the relevance of sentence pairs, it is insufficient to just examine the general…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

The intrinsic rotation invariance lies at the core of matching point clouds with handcrafted descriptors. However, it is widely despised by recent deep matchers that obtain the rotation invariance extrinsically via data augmentation. As the…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

Recently, 3D shape understanding has achieved significant progress due to the advances of deep learning models on various data formats like images, voxels, and point clouds. Among them, point clouds and multi-view images are two…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…

Transformers excel across domains, yet their quadratic attention complexity poses a barrier to scaling. Random-feature attention, as in Performers, can reduce this cost to linear in the sequence length by approximating the softmax kernel…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Local feature matching remains a challenging task, primarily due to difficulties in matching sparse keypoints and low-texture regions. The key to solving this problem lies in effectively and accurately integrating global and local…

Bridging 2D and 3D sensor modalities is critical for robust perception in autonomous systems. However, image-to-point cloud (I2P) registration remains challenging due to the semantic-geometric gap between texture-rich but depth-ambiguous…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

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…

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…

Point cloud is an important data structure for a wide range of applications, including robotics, AR/VR, and autonomous driving. To process the point cloud, many deep-learning-based point cloud recognition algorithms have been proposed.…

Linear attention has emerged as a promising alternative to softmax-based attention, leveraging kernelized feature maps to reduce complexity from quadratic to linear in sequence length. However, the non-negative constraint on feature maps…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…