相关论文: GS-Matching: Reconsidering Feature Matching task i…

Clustering is a difficult and widely-studied data mining task, with many varieties of clustering algorithms proposed in the literature. Nearly all algorithms use a similarity measure such as a distance metric (e.g. Euclidean distance) to…

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

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…

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…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

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…

The feature frame is a key idea of feature matching problem between two images. However, most of the traditional matching methods only simply employ the spatial location information (the coordinates), which ignores the shape and orientation…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

Consensus clustering, a fundamental task in machine learning and data analysis, aims to aggregate multiple input clusterings of a dataset, potentially based on different non-sensitive attributes, into a single clustering that best…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

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…

In the realm of point cloud registration, the most prevalent pose evaluation approaches are statistics-based, identifying the optimal transformation by maximizing the number of consistent correspondences. However, registration recall…