相关论文: PSReg: Prior-guided Sparse Mixture of Experts for …

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

Current semantic segmentation approaches for point cloud scenes heavily rely on manual labeling, while research on unsupervised semantic segmentation methods specifically for raw point clouds is still in its early stages. Unsupervised point…

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…

Pre-training has become a standard paradigm in many computer vision tasks. However, most of the methods are generally designed on the RGB image domain. Due to the discrepancy between the two-dimensional image plane and the three-dimensional…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Encoder-Decoder architectures are widely used in deep learning-based Deformable Image Registration (DIR), where the encoder extracts multi-scale features and the decoder predicts deformation fields by recovering spatial locations. However,…

Point cloud registration, a fundamental task in 3D computer vision, has remained largely unexplored in cross-source point clouds and unstructured scenes. The primary challenges arise from noise, outliers, and variations in scale and…

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges…

In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabeled point cloud. On top of our previous work, that directly…

Parameter-efficient fine-tuning has demonstrated promising results across various visual adaptation tasks, such as classification and segmentation. Typically, prompt tuning techniques have harnessed knowledge from a single pre-trained…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

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…

Steered Mixture-of-Experts (SMoE) has recently emerged as a powerful framework for spatial-domain image modeling, enabling high-fidelity image representation using a remarkably small number of parameters. Its ability to steer kernel-based…

Learning cross-modal correspondences is essential for image-to-point cloud (I2P) registration. Existing methods achieve this mostly by utilizing metric learning to enforce feature alignment across modalities, disregarding the inherent…

Point cloud registration aims at estimating the geometric transformation between two point cloud scans, in which point-wise correspondence estimation is the key to its success. In addition to previous methods that seek correspondences by…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

Many algorithms for surface registration risk producing significant errors if surfaces are significantly nonisometric. Manifold learning has been shown to be effective at improving registration quality, using information from an entire…

We present Sparse Interpolated Mixture-of-Experts (SIMoE) instruction-tuning, an end-to-end algorithm designed to fine-tune a dense pre-trained Large Language Model (LLM) into a MoE-style model that possesses capabilities in multiple…

Rigid registration of point clouds with partial overlaps is a longstanding problem usually solved in two steps: (a) finding correspondences between the point clouds; (b) filtering these correspondences to keep only the most reliable ones to…