相关论文: SGOR: Outlier Removal by Leveraging Semantic and G…

With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

An established approach for 3D point cloud registration is to estimate the registration function from 3D keypoint correspondences. Typically, a robust technique is required to conduct the estimation, since there are false correspondences or…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

Obtaining enough high-quality correspondences is crucial for robust registration. Existing correspondence refinement methods mostly follow the paradigm of outlier removal, which either fails to correctly identify the accurate…

Modern text processing pipelines demand robust methods to remove extraneous content while preserving a document's core message. Traditional approaches such as HTML boilerplate extraction or keyword filters often fail in multilingual…

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…

The implementation of automatic image registration is still difficult in various applications. In this paper, an automatic image registration approach through line-support region segmentation and geometrical outlier removal (ALRS-GOR) is…

Outlier recognition is a fundamental problem in data analysis and has attracted a great deal of attention in the past decades. However, most existing methods still suffer from several issues such as high time and space complexities or…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…

Correspondence-based point cloud registration is a cornerstone in robotics perception and computer vision, which seeks to estimate the best rigid transformation aligning two point clouds from the putative correspondences. However, due to…

We study the problem of outlier correspondence pruning for non-rigid point cloud registration. In rigid registration, spatial consistency has been a commonly used criterion to discriminate outliers from inliers. It measures the…

We propose a robust method for point cloud registration that can handle both unknown scales and extreme outlier ratios. Our method, dubbed PCR-99, uses a deterministic 3-point sampling approach with two novel mechanisms that significantly…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

The problem of localizing a set of nodes from relative pairwise measurements is at the core of many applications such as Structure from Motion (SfM), sensor networks, and Simultaneous Localization And Mapping (SLAM). In practical…

The curse of outlier measurements in estimation problems is a well known issue in a variety of fields. Therefore, outlier removal procedures, which enables the identification of spurious measurements within a set, have been developed for…