相关论文: ZeroReg: Zero-Shot Point Cloud Registration with F…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Zero-shot point cloud segmentation aims to make deep models capable of recognizing novel objects in point cloud that are unseen in the training phase. Recent trends favor the pipeline which transfers knowledge from seen classes with labels…

Existing object detection models are mainly trained on large-scale labeled datasets. However, annotating data for novel aerial object classes is expensive since it is time-consuming and may require expert knowledge. Thus, it is desirable to…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

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…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate…

Zero-shot learning on 3D point cloud data is a related underexplored problem compared to its 2D image counterpart. 3D data brings new challenges for ZSL due to the unavailability of robust pre-trained feature extraction models. To address…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot methods leverage 2D vision-language models (LVLMs). However,…

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…

Generalized zero-shot semantic segmentation of 3D point clouds aims to classify each point into both seen and unseen classes. A significant challenge with these models is their tendency to make biased predictions, often favoring the classes…

In this paper, based on the assumption that the object boundaries (e.g., buildings) from the over-view data should coincide with footprints of fa\c{c}ade 3D points generated from street-view photogrammetric images, we aim to address this…

Partial point cloud registration is essential for autonomous perception and 3D scene understanding, yet it remains challenging owing to structural ambiguity, partial visibility, and noise. We address these issues by proposing Confidence…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

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…

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…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Understanding and reasoning about complex 3D environments requires structured scene representations that capture not only objects but also their semantic and spatial relationships. While recent works on 3D scene graph generation have…