相关论文: Cross-PCR: A Robust Cross-Source Point Cloud Regis…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

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…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

Deep learning-based feature matching has shown great superiority for point cloud registration in the absence of pose priors. Although coarse-to-fine matching approaches are prevalent, the coarse matching of existing methods is typically…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Point cloud registration (PCR) is a fundamental task for integrating 3D observations in remote sensing applications. This paper proposes a fast and effective PCR algorithm utilizing probabilistic self-updating local correspondence and line…

We study the problem of extracting correspondences between a pair of point clouds for registration. For correspondence retrieval, existing works benefit from matching sparse keypoints detected from dense points but usually struggle to…

Correspondence-based rotation search and point cloud registration are two fundamental problems in robotics and computer vision. However, the presence of outliers, sometimes even occupying the great majority of the putative correspondences,…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…