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

Point cloud registration is a prerequisite for many applications in computer vision and robotics. Most existing methods focus on pairwise registration of two point clouds with high overlap. Although there have been some methods for low…

Partial to Partial Point Cloud Registration (partial PCR) remains a challenging task, particularly when dealing with a low overlap rate. In comparison to the full-to-full registration task, we find that the objective of partial PCR is still…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

For both indoor and outdoor environments, we propose an efficient and novel method for different scales and sparse 3D point clouds registration that cannot be handled by the current popular ICP approaches. Our algorithm efficiently detects…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

Point cloud registration aims at estimating the geometric transformation between two point cloud scans, in which point-wise correspondence estimation is the key to its success. In addition to previous methods that seek correspondences by…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

Due to their complex spatial structure and diverse geometric features, achieving high-precision and robust point cloud registration for complex Die Castings has been a significant challenge in the die-casting industry. Existing point cloud…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

Multispectral point cloud (MPC) captures 3D spatial-spectral information from the observed scene, which can be used for scene understanding and has a wide range of applications. However, most of the existing classification methods were…

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…

Point cloud registration plays a crucial role in various fields, including robotics, computer graphics, and medical imaging. This process involves determining spatial relationships between different sets of points, typically within a 3D…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

A high-fidelity digital simulation environment is crucial for accurately replicating physical operational processes. However, inconsistencies between simulation and physical environments result in low confidence in simulation outcomes,…