相关论文: Cross-modal feature fusion for robust point cloud …

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 is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…

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…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

We address the challenge of point cloud registration using color information, where traditional methods relying solely on geometric features often struggle in low-overlap and incomplete scenarios. To overcome these limitations, we propose…

To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However,…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

Multi-modal 3D object detection has been an active research topic in autonomous driving. Nevertheless, it is non-trivial to explore the cross-modal feature fusion between sparse 3D points and dense 2D pixels. Recent approaches either fuse…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

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…

We introduce C-GenReg, a training-free framework for 3D point cloud registration that leverages the complementary strengths of world-scale generative priors and registration-oriented Vision Foundation Models (VFMs). Current learning-based…

Three-dimensional (3D) fingerprints preserve global finger geometry and local ridge structure while avoiding contact-induced deformation, but they remain difficult to integrate with legacy two-dimensional (2D) fingerprint systems. This…

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…