相关论文: ML-SemReg: Boosting Point Cloud Registration with …

Point clouds are a fundamental 3D data representation that underpins various computer vision tasks. Recently, Mamba has demonstrated strong potential for 3D point cloud understanding. However, existing approaches primarily focus on point…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

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…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper,…

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…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

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…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Current semantic segmentation approaches for point cloud scenes heavily rely on manual labeling, while research on unsupervised semantic segmentation methods specifically for raw point clouds is still in its early stages. Unsupervised point…

The use of machine learning or artificial intelligence (ML/AI) holds substantial potential toward improving many functions and needs of the public sector. In practice however, integrating ML/AI components into public sector applications is…

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:…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Despite significant progress in 3D point cloud segmentation, existing methods primarily address specific tasks and depend on explicit instructions to identify targets, lacking the capability to infer and understand implicit user intentions…

Current point cloud processing algorithms do not have the capability to automatically extract semantic information from the observed scenes, except in very specialized cases. Furthermore, existing mesh analysis paradigms cannot be directly…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initially constructed followed by motion synchronization to…

Data plays a crucial role in training learning-based methods for 3D point cloud registration. However, the real-world dataset is expensive to build, while rendering-based synthetic data suffers from domain gaps. In this work, we present…