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

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

As a fundamental problem in computer vision, point cloud registration aims to seek the optimal transformation for aligning a pair of point clouds. In most existing methods, the information flows are usually forward transferring, thus…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Sparse Mixture of Experts (SMoE) has emerged as a key to achieving unprecedented scalability in deep learning. By activating only a small subset of parameters per sample, SMoE achieves an exponential increase in parameter counts while…

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

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 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.…

Correlative microscopy aims at combining two or more modalities to gain more information than the one provided by one modality on the same biological structure. Registration is needed at different steps of correlative microscopies…

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.…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Bridging 2D and 3D sensor modalities is critical for robust perception in autonomous systems. However, image-to-point cloud (I2P) registration remains challenging due to the semantic-geometric gap between texture-rich but depth-ambiguous…

Sparse mixture of experts (SMoE) is an effective solution for scaling up model capacity without increasing the computational costs. A crucial component of SMoE is the router, responsible for directing the input to relevant experts; however,…

Mixture-of-Experts (MoE) has become a prevalent backbone for large vision-language models (VLMs), yet how modality-specific signals should guide expert routing remains under-explored. Existing routing strategies are either hand-crafted or…

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…

Masked Autoencoders learn strong visual representations and achieve state-of-the-art results in several independent modalities, yet very few works have addressed their capabilities in multi-modality settings. In this work, we focus on point…

Point cloud completion aims to infer a complete shape from its partial observation. Many approaches utilize a pure encoderdecoder paradigm in which complete shape can be directly predicted by shape priors learned from partial scans,…

In image-guided liver surgery, the initial rigid alignment between preoperative and intraoperative data, often represented as point clouds, is crucial for providing sub-surface information from preoperative CT/MRI images to the surgeon…