相关论文: A Robust Probability-based Joint Registration Meth…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

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…

Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate…

Predicting missing segments in partially observed functions is challenging due to infinite-dimensionality, complex dependence within and across observations, and irregular noise. These challenges are further exacerbated by the existence of…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

In this paper, we present a second order spatial compatibility (SC^2) measure based method for efficient and robust point cloud registration (PCR), called SC^2-PCR. Firstly, we propose a second order spatial compatibility (SC^2) measure to…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

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…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

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.…

The discriminative feature is crucial for point cloud registration. Recent methods improve the feature discriminative by distinguishing between non-overlapping and overlapping region points. However, they still face challenges in…

Multi-view point cloud registration is fundamental in 3D reconstruction. Since there are close connections between point clouds captured from different viewpoints, registration performance can be enhanced if these connections be harnessed…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…

Recent advances in point cloud registration mostly leverage geometric information. Although these methods have yielded promising results, they still struggle with problems of low overlap, thus limiting their practical usage. In this paper,…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimation pipeline and may cause drift under real-time constraints.…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

Correspondence-based point cloud registration is a cornerstone in geometric computer vision, robotics perception, photogrammetry and remote sensing, which seeks to estimate the best rigid transformation between two point clouds from the…