相关论文: SynBench: A Synthetic Benchmark for Non-rigid 3D P…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

The emerging topic of cross-source point cloud (CSPC) registration has attracted increasing attention with the fast development background of 3D sensor technologies. Different from the conventional same-source point clouds that focus on…

We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans. Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point…

Point cloud registration plays a critical role in a multitude of computer vision tasks, such as pose estimation and 3D localization. Recently, a plethora of deep learning methods were formulated that aim to tackle this problem. Most of…

CERBERUS is a synthetic benchmark designed to help train and evaluate AI models for detecting cracks and other defects in infrastructure. It includes a crack image generator and realistic 3D inspection scenarios built in Unity. The…

Existing point cloud completion methods, which typically depend on predefined synthetic training datasets, encounter significant challenges when applied to out-of-distribution, real-world scans. To overcome this limitation, we introduce a…

Urban heat exposure is becoming an increasingly critical challenge due to the intensifying urban heat island effect. Fine-grained shade patterns, especially those induced by urban buildings, strongly influence pedestrians' thermal exposure…

Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

Dense 3D reconstruction and tracking of dynamic scenes from monocular video remains an important open challenge in computer vision. Progress in this area has been constrained by the scarcity of high-quality datasets with dense, complete,…

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.…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

This research focuses on visual industrial inspection by evaluating point clouds and multi-point cloud matching methods. We also introduce a synthetic dataset for quantitative evaluation of registration method and various distance metrics…

This paper presents a new 3D point cloud classification benchmark data set with over four billion manually labelled points, meant as input for data-hungry (deep) learning methods. We also discuss first submissions to the benchmark that use…

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

Three-dimensional data registration is an established yet challenging problem that is key in many different applications, such as mapping the environment for autonomous vehicles, and modeling objects and people for avatar creation, among…

Scene flow is a powerful tool for capturing the motion field of 3D point clouds. However, it is difficult to directly apply flow-based models to dynamic point cloud classification since the unstructured points make it hard or even…

3D model generation from single 2D RGB images is a challenging and actively researched computer vision task. Various techniques using conventional network architectures have been proposed for the same. However, the body of research work is…

Point cloud alignment is a common problem in computer vision and robotics, with applications ranging from 3D object recognition to reconstruction. We propose a novel approach to the alignment problem that utilizes Bayesian nonparametrics to…