相关论文: Bridge 2D-3D: Uncertainty-aware Hierarchical Regis…

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…

Along with the advancements in artificial intelligence technologies, image-to-point-cloud registration (I2P) techniques have made significant strides. Nevertheless, the dimensional differences in the features of points cloud…

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…

Feature-level fusion shows promise in collaborative perception (CP) through balanced performance and communication bandwidth trade-off. However, its effectiveness critically relies on input feature quality. The acquisition of high-quality…

Domain adaptation remains a challenge when there is significant manifold discrepancy between source and target domains. Although recent methods leverage manifold-aware adversarial perturbations to perform data augmentation, they often…

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…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

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…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

Rigid registration of point clouds with partial overlaps is a longstanding problem usually solved in two steps: (a) finding correspondences between the point clouds; (b) filtering these correspondences to keep only the most reliable ones to…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

We present a neural point cloud rendering pipeline through a novel multi-frequency-aware patch adversarial learning framework. The proposed approach aims to improve the rendering realness by minimizing the spectrum discrepancy between real…

3D shape anomaly detection is a crucial task for industrial inspection and geometric analysis. Existing deep learning approaches typically learn representations of normal shapes and identify anomalies via out-of-distribution feature…

Unsupervised Domain Adaptation (UDA) aims to transfer knowledge from a labeled source domain to an unlabeled target domain. Recent UDA methods based on Vision Transformers (ViTs) have achieved strong performance through attention-based…

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…