相关论文: BiEquiFormer: Bi-Equivariant Representations for G…

Recently, several deep learning approaches have been proposed for point cloud registration. These methods train a network to generate a representation that helps finding matching points in two 3D point clouds. Finding good matches allows…

In this paper, we propose an algorithm for registering sequential bounding boxes with point cloud streams. Unlike popular point cloud registration techniques, the alignment of the point cloud and the bounding box can rely on the properties…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Recently, a growing number of work design unsupervised paradigms for point cloud processing to alleviate the limitation of expensive manual annotation and poor transferability of supervised methods. Among them, CrossPoint follows the…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

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…

Designing a point cloud upsampler, which aims to generate a clean and dense point cloud given a sparse point representation, is a fundamental and challenging problem in computer vision. A line of attempts achieves this goal by establishing…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

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…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

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…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Efficiency and robustness are increasingly needed for applications on 3D point clouds, with the ubiquitous use of edge devices in scenarios like autonomous driving and robotics, which often demand real-time and reliable responses. The paper…

The manual annotation for large-scale point clouds costs a lot of time and is usually unavailable in harsh real-world scenarios. Inspired by the great success of the pre-training and fine-tuning paradigm in both vision and language tasks,…

Mixed-based point cloud augmentation is a popular solution to the problem of limited availability of large-scale public datasets. But the mismatch between mixed points and corresponding semantic labels hinders the further application in…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

Point cloud alignment is a common problem in computer vision and robotics, with applications ranging from 3D object recognition to reconstruction. We propose a novel approach to the alignment problem that utilizes Bayesian nonparametrics to…