相关论文: Robust Point Cloud Registration in Robotic Inspect…

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize the geometric structure information in point feature embedding or outlier rejection for registration while neglecting to…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…

Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…

We consider maximum likelihood estimation for Gaussian Mixture Models (Gmms). This task is almost invariably solved (in theory and practice) via the Expectation Maximization (EM) algorithm. EM owes its success to various factors, of which…

A high-fidelity digital simulation environment is crucial for accurately replicating physical operational processes. However, inconsistencies between simulation and physical environments result in low confidence in simulation outcomes,…

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

We present a flexible approach to colour transfer inspired by techniques recently proposed for shape registration. Colour distributions of the palette and target images are modelled with Gaussian Mixture Models (GMMs) that are robustly…

We propose new, and robust, loss functions for the point cloud registration problem. Our loss functions are inspired by the Best Buddies Similarity (BBS) measure that counts the number of mutual nearest neighbors between two point sets.…

In this paper, we study the problem of learning one-dimensional Gaussian mixture models (GMMs) with a specific focus on estimating both the model order and the mixing distribution from independent and identically distributed (i.i.d.)…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

This paper addresses the issue of matching rigid 3D object points with 2D image points through point registration based on maximum likelihood principle in computer simulated images. Perspective projection is necessary when transforming 3D…

This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we extract fundamental geometric primitives, including planes,…

When fitting Gaussian Mixture Models to 3D geometry, the model is typically fit to point clouds, even when the shapes were obtained as 3D meshes. Here we present a formulation for fitting Gaussian Mixture Models (GMMs) directly to a…

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:…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

Generalizing robot trajectories from human demonstrations to new contexts remains a key challenge in Learning from Demonstration (LfD), particularly when only single-context demonstrations are available. We present a novel Gaussian Mixture…

Grouping observations into homogeneous groups is a recurrent task in statistical data analysis. We consider Gaussian Mixture Models, which are the most famous parametric model-based clustering method. We propose a new robust approach for…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…