相关论文: A Pointcloud Registration Framework for Relocaliza…

This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between…

Automatically localizing a position based on a few natural language instructions is essential for future robots to communicate and collaborate with humans. To approach this goal, we focus on the text-to-point-cloud cross-modal localization…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

The success of re-localisation has crucial implications for the practical deployment of robots operating within a prior map or relative to one another in real-world scenarios. Using single-modality, place recognition and localisation can be…

The development of 3D Vision-Language Models (VLMs), crucial for applications in robotics, autonomous driving, and augmented reality, is severely constrained by the scarcity of paired 3D-text data. Existing methods rely solely on next-token…

Iterative methods such as iterative closest point (ICP) for point cloud registration often suffer from bad local optimality (e.g. saddle points), due to the nature of nonconvex optimization. To address this fundamental challenge, in this…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

Multi-view point cloud registration is fundamental in 3D reconstruction. Since there are close connections between point clouds captured from different viewpoints, registration performance can be enhanced if these connections be harnessed…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing variants of ICP that solely rely on geometry or other features…

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize the geometric structure information in point feature embedding or outlier rejection for registration while neglecting to…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Point cloud registration is a classical topic in the field of 3D Vision and Computer Graphics. Generally, the implementation of registration is typically sensitive to similarity transformations (translation, scaling, and rotation), noisy…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previous researchers have utilized 1D signal and 2D images to…

In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…