相关论文: Multiview Point Cloud Registration via Optimizatio…

Recently, polar-based representation has shown promising properties in perceptual tasks. In addition to Cartesian-based approaches, which separate point clouds unevenly, representing point clouds as polar grids has been recognized as an…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

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…

Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…

Point cloud registration is a critical problem in computer vision and robotics, especially in the field of navigation. Current methods often fail when faced with high outlier rates or take a long time to converge to a suitable solution. In…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

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.…

We present FACT, a method for predicting alignment quality (i.e., registration error) of registered lidar point cloud pairs. This is useful e.g. for quality assurance of large, automatically registered 3D models. FACT extracts local…

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

As real-scanned point clouds are mostly partial due to occlusions and viewpoints, reconstructing complete 3D shapes based on incomplete observations becomes a fundamental problem for computer vision. With a single incomplete point cloud, it…

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…

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…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

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 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…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

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…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…