相关论文: Semantic-ICP: Iterative Closest Point for Non-rigi…

Probabilistic point-set registration methods have been gaining more attention for their robustness to noise, outliers and occlusions. However, these methods tend to be much slower than the popular iterative closest point (ICP) algorithms,…

Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods…

This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…

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…

Clinical fusion of Single Photon Emission Computed Tomography Myocardial Perfusion Imaging (SPECT MPI) and Computed Tomography Angiography (CTA) remains limited by cross-modality misregistration and reliance on manual landmarks, which can…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

Keypoint annotation in point clouds is an important task for 3D reconstruction, object tracking and alignment, in particular in deformable or moving scenes. In the context of agriculture robotics, it is a critical task for livestock…

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…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Cortical surface registration is a fundamental tool for neuroimaging analysis that has been shown to improve the alignment of functional regions relative to volumetric approaches. Classically, image registration is performed by optimizing a…

Point cloud semantic segmentation is a crucial task in 3D scene understanding. Existing methods mainly focus on employing a large number of annotated labels for supervised semantic segmentation. Nonetheless, manually labeling such large…

Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…

This paper presents a novel semantic-based online extrinsic calibration approach, SOIC (so, I see), for Light Detection and Ranging (LiDAR) and camera sensors. Previous online calibration methods usually need prior knowledge of rough…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

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…

Accurate labeling is essential for supervised deep learning methods. However, it is almost impossible to accurately and manually annotate thousands of images, which results in many labeling errors for most datasets. We proposes a local…

LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned: certain motion directions are weakly constrained, causing…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Real-time and contactless monitoring of vital signs, such as respiration and heartbeat, alongside reliable communication, is essential for modern healthcare systems, especially in remote and privacy-sensitive environments. Traditional…