相关论文: Automatic marker-free registration based on simila…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

An unsupervised point cloud object retrieval and pose estimation method, called PCRP, is proposed in this work. It is assumed that there exists a gallery point cloud set that contains point cloud objects with given pose orientation…

LiDAR provides highly accurate 3D point clouds. However, data needs to be manually labelled in order to provide subsequent useful information. Manual annotation of such data is time consuming, tedious and error prone, and hence in this…

We present TreeON, a novel neural-based framework for reconstructing detailed 3D tree point clouds from sparse top-down geodata, using only a single orthophoto and its corresponding Digital Surface Model (DSM). Our method introduces a new…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

Deep point cloud registration methods face challenges to partial overlaps and rely on labeled data. To address these issues, we propose UDPReg, an unsupervised deep probabilistic registration framework for point clouds with partial…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

In this work, we investigate the problem of measuring a the centre checkerboard target in an 3D point cloud. This is an important problem which has applications in registration, long term monitoring and linking to other sensor systems. We…

Outdoor LiDAR point clouds are typically large-scale and complexly distributed. To achieve efficient and accurate registration, emphasizing the similarity among local regions and prioritizing global local-to-local matching is of utmost…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

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…

This study presents a novel workflow designed to efficiently and accurately register large-scale mobile laser scanning (MLS) point clouds to a target model point cloud in urban street scenarios. This workflow specifically targets the…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

Convex clustering is a modern clustering framework that guarantees globally optimal solutions and performs comparably to other advanced clustering methods. However, obtaining a complete dendrogram (clusterpath) for large-scale datasets…

Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initially constructed followed by motion synchronization to…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Due to their complex spatial structure and diverse geometric features, achieving high-precision and robust point cloud registration for complex Die Castings has been a significant challenge in the die-casting industry. Existing point cloud…