相关论文: PointRegGPT: Boosting 3D Point Cloud Registration …

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…

A point cloud serves as a representation of the surface of a three-dimensional (3D) shape. Deep generative models have been adapted to model their variations typically using a map from a ball-like set of latent variables. However, previous…

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…

We present the first approach for 3D point-cloud to image translation based on conditional Generative Adversarial Networks (cGAN). The model handles multi-modal information sources from different domains, i.e. raw point-sets and images. The…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

Scanning real-life scenes with modern registration devices typically gives incomplete point cloud representations, primarily due to the limitations of partial scanning, 3D occlusions, and dynamic light conditions. Recent works on processing…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric structures, making them essential for manipulation tasks in…

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…

Event cameras have emerged as a promising vision sensor in recent years due to their unparalleled temporal resolution and dynamic range. While registration of 2D RGB images to 3D point clouds is a long-standing problem in computer vision,…

With the development of 3D laser scanning techniques and depth sensors, 3D dynamic point clouds have attracted increasing attention as a representation of 3D objects in motion, enabling various applications such as 3D immersive…

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…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

Deep learning techniques for point clouds have achieved strong performance on a range of 3D vision tasks. However, it is costly to annotate large-scale point sets, making it critical to learn generalizable representations that can transfer…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…

Parameter-efficient fine-tuning strategies for foundation models in 1D textual and 2D visual analysis have demonstrated remarkable efficacy. However, due to the scarcity of point cloud data, pre-training large 3D models remains a…

Deep neural networks have achieved significant success in 3D point cloud classification while relying on large-scale, annotated point cloud datasets, which are labor-intensive to build. Compared to capturing data with LiDAR sensors and then…

3D point cloud is an important 3D representation for capturing real world 3D objects. However, real-scanned 3D point clouds are often incomplete, and it is important to recover complete point clouds for downstream applications. Most…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…