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

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

The fusion of Iterative Closest Point (ICP) reg- istrations in existing state estimation frameworks relies on an accurate estimation of their uncertainty. In this paper, we study the estimation of this uncertainty in the form of a…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

Mapping algorithms that rely on registering point clouds inevitably suffer from local drift, both in localization and in the built map. Applications that require accurate maps, such as environmental monitoring, benefit from additional…

Point clouds, a prominent method of 3D representation, are extensively utilized across industries such as autonomous driving, surveying, electricity, architecture, and gaming, and have been rigorously investigated for their accuracy and…

Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, short-term environmental changes, occurring over days or weeks,…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

Accurate noninvasive estimation of intracranial pressure (ICP) remains a major challenge in critical care. We developed a bespoke machine learning algorithm that integrates system identification and ranking-constrained optimization to…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Deformable image registration is a crucial step in medical image analysis for finding a non-linear spatial transformation between a pair of fixed and moving images. Deep registration methods based on Convolutional Neural Networks (CNNs)…

We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…

Point cloud, as a 3D representation, is widely used in autonomous driving, virtual reality (VR), and augmented reality (AR). However, traditional communication systems think that the point cloud's semantic information is irrelevant to…

Statistical shape models are a useful tool in image processing and computer vision. A Procrustres registration of the contours of the same shape is typically perform to align the training samples to learn the statistical shape model. A…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

Non-rigid alignment of point clouds is crucial for scene understanding, reconstruction, and various computer vision and robotics tasks. Recent advancements in implicit deformation networks for non-rigid registration have significantly…

Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or NDT-based map representations, which are distinct from the…

Recent results in end-to-end automatic speech recognition have demonstrated the efficacy of pseudo-labeling for semi-supervised models trained both with Connectionist Temporal Classification (CTC) and Sequence-to-Sequence (seq2seq) losses.…