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

Fine-tuning LLMs on tabular classification tasks can lead to the phenomenon of fine-tuning multiplicity where equally well-performing models make conflicting predictions on the same input. Fine-tuning multiplicity can arise due to…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in…

Multiresolution image fusion is a key problem for real-time satellite imaging and plays a central role in detecting and monitoring natural phenomena such as floods. It aims to solve the trade-off between temporal and spatial resolution in…

Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

This work investigates the use of robust optimal transport (OT) for shape matching. Specifically, we show that recent OT solvers improve both optimization-based and deep learning methods for point cloud registration, boosting accuracy at an…

Reliable quantification of uncertainty in Mobile Laser Scanning (MLS) point clouds is essential for ensuring the accuracy and credibility of downstream applications such as 3D mapping, modeling, and change analysis. Traditional backward…

Advanced 3D metrology technologies such as Coordinate Measuring Machine (CMM) and laser 3D scanners have facilitated the collection of massive point cloud data, beneficial for process monitoring, control and optimization. However, due to…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

The Iterative Closest Point (ICP) algorithm and its variants are a fundamental technique for rigid registration between two point sets, with wide applications in different areas from robotics to 3D reconstruction. The main drawbacks for ICP…

In this paper, we address the point cloud registration problem, where well-known methods like ICP fail under uncertainty arising from sensor noise, pose-estimation errors, and partial overlap due to occlusion. We develop a novel approach,…

Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance…

Probabilistic Point Clouds Registration (PPCR) is an algorithm that, in its multi-iteration version, outperformed state of the art algorithms for local point clouds registration. However, its performances have been tested using a fixed high…

Reconstructing models from unorganized point clouds presents a significant challenge, especially when the models consist of multiple components represented by their surface point clouds. Such models often involve point clouds with noise…

Methods to certify the robustness of neural networks in the presence of input uncertainty are vital in safety-critical settings. Most certification methods in the literature are designed for adversarial or worst-case inputs, but researchers…

Machine learning and data analysis have been used in many robotics fields, especially for modelling. Data are usually the result of sensor measurements and, as such, they might be subjected to noise and outliers. The presence of outliers…

We present a point set registration method in bounded domains based on the solution to the Fokker Planck equation. Our approach leverages (i) density estimation based on Gaussian mixture models; (ii) a stabilized finite element…

We address the generalization ability of recent learning-based point cloud registration methods. Despite their success, these approaches tend to have poor performance when applied to mismatched conditions that are not well-represented in…

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…