相关论文: UMERegRobust - Universal Manifold Embedding Compat…

Standard machine learning models optimized for average performance often fail on minority subgroups and lack robustness to distribution shifts. This challenge worsens when subgroups are latent and affected by complex interactions among…

In this paper, by modeling the point cloud registration task as a Markov decision process, we propose an end-to-end deep model embedded with the cross-entropy method (CEM) for unsupervised 3D registration. Our model consists of a sampling…

We present an iterative overlap estimation technique to augment existing point cloud registration algorithms that can achieve high performance in difficult real-world situations where large pose displacement and non-overlapping geometry…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology…

We introduce RetinaRegNet, a zero-shot image registration model designed to register retinal images with minimal overlap, large deformations, and varying image quality. RetinaRegNet addresses these challenges and achieves robust and…

Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…

The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…

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…

Many unsupervised representation learning methods belong to the class of similarity learning models. While various modality-specific approaches exist for different types of data, a core property of many methods is that representations of…

Continual Model Merging (CMM) sequentially integrates task-specific models into a unified architecture without intensive retraining. However, existing CMM methods are hindered by a fundamental saturation-redundancy dilemma: backbone-centric…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Recent works in medical image registration have proposed the use of Implicit Neural Representations, demonstrating performance that rivals state-of-the-art learning-based methods. However, these implicit representations need to be optimized…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

Learning-based medical image registration has matched the accuracy of conventional methods while offering superior computational efficiency. However, existing approaches suffer from poor generalization across diverse clinical scenarios,…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Multi-modal fusion has shown initial promising results for object detection of autonomous driving perception. However, many existing fusion schemes do not consider the quality of each fusion input and may suffer from adverse conditions on…

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…

Rotary Position Embedding (RoPE) has become a core component of modern Transformer architectures across language, vision, and 3D domains. However, existing implementations rely on vector-level split and merge operations that introduce…

Medical image registration is crucial for various clinical and research applications including disease diagnosis or treatment planning which require alignment of images from different modalities, time points, or subjects. Traditional…