相关论文: Scalable 3D Registration via Truncated Entry-wise …

Optimizing neural networks with loss that contain high-dimensional and high-order differential operators is expensive to evaluate with back-propagation due to $\mathcal{O}(d^{k})$ scaling of the derivative tensor size and the…

We propose 3DGS$^2$-TR,a second-order optimizer for accelerating the scene training problem in 3D Gaussian Splatting (3DGS). Unlike existing second-order approaches that rely on explicit or dense curvature representations, such as 3DGS-LM…

We propose a minimal solution for the similarity registration (rigid pose and scale) between two sets of 3D lines, and also between a set of co-planar points and a set of 3D lines. The first problem is solved up to 8 discrete solutions with…

The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of…

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…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

Three-dimensional data registration is an established yet challenging problem that is key in many different applications, such as mapping the environment for autonomous vehicles, and modeling objects and people for avatar creation, among…

We present a neat yet effective recursive operation on vision transformers that can improve parameter utilization without involving additional parameters. This is achieved by sharing weights across the depth of transformer networks. The…

Aligning two partially-overlapped 3D line reconstructions in Euclidean space is challenging, as we need to simultaneously solve correspondences and relative pose between line reconstructions. This paper proposes a neural network based…

Accurate 3D reconstruction using multi-camera RGB-D systems critically depends on precise extrinsic calibration to achieve proper alignment between captured views. In this paper, we introduce an iterative extrinsic calibration method that…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

This work focuses on Registration or Alignment of 3D point sets. Although the Registration problem is a well established problem and it's solved using multiple variants of Iterative Closest Point (ICP) Algorithm, most of the approaches in…

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 is a classical image processing problem that looks for the optimal transformation between two sets of points. In this work, we analyze the impact of outliers when finding the optimal rotation between two point clouds.…

In this paper we present a scalable approach for robustly computing a 3D surface mesh from multi-scale multi-view stereo point clouds that can handle extreme jumps of point density (in our experiments three orders of magnitude). The…

Unsafe surgical care is a critical health concern, often linked to limitations in surgeon experience, skills, and situational awareness. Integrating patient-specific 3D models into the surgical field can enhance visualization, provide…

Even though considerable progress has been made in deep learning-based 3D point cloud processing, how to obtain accurate correspondences for robust registration remains a major challenge because existing hard assignment methods cannot deal…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…