相关论文: PCR-99: A Practical Method for Point Cloud Registr…

Outlier detection algorithms typically assign an outlier score to each observation in a dataset, indicating the degree to which an observation is an outlier. However, these scores are often not comparable across algorithms and can be…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

Point cloud registration is a critical problem in computer vision and robotics, especially in the field of navigation. Current methods often fail when faced with high outlier rates or take a long time to converge to a suitable solution. In…

Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…

High-dimensional data poses unique challenges in outlier detection process. Most of the existing algorithms fail to properly address the issues stemming from a large number of features. In particular, outlier detection algorithms perform…

Robust PCA, the problem of PCA in the presence of outliers has been extensively investigated in the last few years. Here we focus on Robust PCA in the column sparse outlier model. The existing methods for column sparse outlier model assumes…

Point-cloud registration (PCR) is an important task in various applications such as robotic manipulation, augmented and virtual reality, SLAM, etc. PCR is an optimization problem involving minimization over two different types of…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

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…

Detecting the reflection symmetry plane of an object represented by a 3D point cloud is a fundamental problem in 3D computer vision and geometry processing due to its various applications, such as compression, object detection, robotic…

We propose a new assumption in outlier detection: Normal data instances are commonly located in the area that there is hardly any fluctuation on data density, while outliers are often appeared in the area that there is violent fluctuation…

Often the challenge associated with tasks like fraud and spam detection[1] is the lack of all likely patterns needed to train suitable supervised learning models. In order to overcome this limitation, such tasks are attempted as outlier or…

We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration problem using a Truncated Least Squares (TLS) cost that…

Often the challenge associated with tasks like fraud and spam detection is the lack of all likely patterns needed to train suitable supervised learning models. This problem accentuates when the fraudulent patterns are not only scarce, they…

Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

Rotation search and point cloud registration are two fundamental problems in robotics and computer vision, which aim to estimate the rotation and the transformation between the 3D vector sets and point clouds, respectively. Due to the…

Given an input set of $3$D point pairs, the goal of outlier-robust $3$D registration is to compute some rotation and translation that align as many point pairs as possible. This is an important problem in computer vision, for which many…