相关论文: Incremental Multiview Point Cloud Registration wit…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

An unsupervised point cloud object retrieval and pose estimation method, called PCRP, is proposed in this work. It is assumed that there exists a gallery point cloud set that contains point cloud objects with given pose orientation…

Most existing point cloud upsampling methods have roughly three steps: feature extraction, feature expansion and 3D coordinate prediction. However,they usually suffer from two critical issues: (1)fixed upsampling rate after one-time…

Subspace clustering is to find underlying low-dimensional subspaces and cluster the data points correctly. In this paper, we propose a novel multi-view subspace clustering method. Most existing methods suffer from two critical issues.…

Image-to-point cloud registration aims to determine the relative camera pose of an RGB image with respect to a point cloud. It plays an important role in camera localization within pre-built LiDAR maps. Despite the modality gaps, most…

In this paper we propose a new framework for point cloud instance segmentation. Our framework has two steps: an embedding step and a clustering step. In the embedding step, our main contribution is to propose a probabilistic embedding space…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…

Multi-view data are commonly encountered in data mining applications. Effective extraction of information from multi-view data requires specific design of clustering methods to cater for data with multiple views, which is non-trivial and…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

In many real-world applications, we have access to multiple views of the data, each of which characterizes the data from a distinct aspect. Several previous algorithms have demonstrated that one can achieve better clustering accuracy by…

Multi-view unsupervised feature selection has been proven to be efficient in reducing the dimensionality of multi-view unlabeled data with high dimensions. The previous methods assume all of the views are complete. However, in real…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

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…

We tackle the problem of getting a full 6-DOF pose estimation of a query image inside a given point cloud. This technical report re-evaluates the algorithms proposed by Y. Li et al. "Worldwide Pose Estimation using 3D Point Cloud". Our code…

Point cloud upsampling aims to generate dense and uniformly distributed point sets from sparse point clouds. Existing point cloud upsampling methods typically approach the task as an interpolation problem. They achieve upsampling by…