相关论文: Registration of algebraic varieties using Riemanni…

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…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

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…

Acquired 3D point cloud data, whether from active sensors directly or from stereo-matching algorithms indirectly, typically contain non-negligible noise. To address the point cloud denoising problem, we propose a fast graph-based local…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

The goal of point set registration is to find point-by-point correspondences between point sets, each of which characterizes the shape of an object. Because local preservation of object geometry is assumed, prevalent algorithms in the area…

Point cloud registration is a fundamental problem in many domains. Practically, the overlap between point clouds to be registered may be relatively small. Most unsupervised methods lack effective initial evaluation of overlap, leading to…

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…

We study optimization over Riemannian embedded submanifolds, where the objective function is relatively smooth in the ambient Euclidean space. Such problems have broad applications but are still largely unexplored. We introduce two…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

In real-world applications, data often reside in restricted domains with unknown boundaries, or as high-dimensional point clouds lying on a lower-dimensional, nontrivial, unknown manifold. Traditional Gaussian Processes (GPs) struggle to…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Point set registration involves identifying a smooth invertible transformation between corresponding points in two point sets, one of which may be smaller than the other and possibly corrupted by observation noise. This problem is…

This paper proposes a generalized framework with joint normalization which learns lower-dimensional subspaces with maximum discriminative power by making use of the Riemannian geometry. In particular, we model the similarity/dissimilarity…

We propose a level-set-based semi-Lagrangian method on graded adaptive Cartesian grids to address the problem of surface reconstruction from point clouds. The goal is to obtain an implicit, high-quality representation of real shapes that…