相关论文: Correspondence-Free Multiview Point Cloud Registra…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

Multiview point cloud registration plays a crucial role in robotics, automation, and computer vision fields. This paper concentrates on pose graph construction and motion synchronization within multiview registration. Previous methods for…

Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle…

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…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

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 is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

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…

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 the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

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…

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…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

We present, for the first time, a novel theoretical approach to address the problem of correspondence free multivector cloud registration in conformal geometric algebra. Such formalism achieves several favorable properties. Primarily, it…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Seeking consistent point-to-point correspondences between 3D rigid data (point clouds, meshes, or depth maps) is a fundamental problem in 3D computer vision. While a number of correspondence selection methods have been proposed in recent…

Recent research leveraging large-scale pretrained diffusion models has demonstrated the potential of using diffusion features to establish semantic correspondences in images. Inspired by advancements in diffusion-based techniques, we…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…