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

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

Deformable registration consists of finding the best dense correspondence between two different images. Many algorithms have been published, but the clinical application was made difficult by the high calculation time needed to solve the…

In this paper, we present a novel registration framework, HumanReg, that learns a non-rigid transformation between two human point clouds end-to-end. We introduce body prior into the registration process to efficiently handle this type of…

Image-to-point cloud registration aims to determine the relative camera pose of an RGB image with respect to a point cloud. It plays an important role in camera localization within pre-built LiDAR maps. Despite the modality gaps, most…

Implicit Neural Representations (INRs), also known as neural fields, have emerged as a powerful paradigm in deep learning, parameterizing continuous spatial fields using coordinate-based neural networks. In this paper, we propose…

Text-to-point-cloud localization enables robots to understand spatial positions through natural language descriptions, which is crucial for human-robot collaboration in applications such as autonomous driving and last-mile delivery.…

In the last decades, some literature appeared using the Lie groups theory to solve problems in computer vision. On the other hand, Lie algebraic representations of the transformations therein were introduced to overcome the difficulties…

3D contrastive representation learning has exhibited remarkable efficacy across various downstream tasks. However, existing contrastive learning paradigms based on cosine similarity fail to deeply explore the potential intra-modal…

We propose a novel framework for retinal feature point alignment, designed for learning cross-modality features to enhance matching and registration across multi-modality retinal images. Our model draws on the success of previous…

High-efficient image compression is a critical requirement. In several scenarios where multiple modalities of data are captured by different sensors, the auxiliary information from other modalities are not fully leveraged by existing…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Unsafe surgical care is a critical health concern, often linked to limitations in surgeon experience, skills, and situational awareness. Integrating patient-specific 3D models into the surgical field can enhance visualization, provide…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

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…

As three-dimensional (3D) data acquisition devices become increasingly prevalent, the demand for 3D point cloud transmission is growing. In this study, we introduce a semantic-aware communication system for robust point cloud classification…

Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…