相关论文: MT-PCR: Leveraging Modality Transformation for Lar…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many 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…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

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…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

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…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

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…

The recent multi-modality models have achieved great performance in many vision tasks because the extracted features contain the multi-modality knowledge. However, most of the current registration descriptors have only concentrated on local…

Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This work proposes…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

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…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds 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…