相关论文: TurboReg: TurboClique for Robust and Efficient Poi…

A popular paradigm for 3D point cloud registration is by extracting 3D keypoint correspondences, then estimating the registration function from the correspondences using a robust algorithm. However, many existing 3D keypoint techniques tend…

We present CLIPPER+, an algorithm for finding maximal cliques in unweighted graphs for outlier-robust global registration. The registration problem can be formulated as a graph and solved by finding its maximum clique. This formulation…

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…

As a fundamental problem in computer vision, 3D point cloud registration (PCR) aims to seek the optimal pose to align a point cloud pair. In this paper, we present a 3D registration method with maximal cliques (MAC). The key insight is to…

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…

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

Correspondence-based point cloud registration is a cornerstone in robotics perception and computer vision, which seeks to estimate the best rigid transformation aligning two point clouds from the putative correspondences. However, due to…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

In the realm of large-scale point cloud registration, designing a compact symbolic representation is crucial for efficiently processing vast amounts of data, ensuring registration robustness against significant viewpoint variations and…

We present a new parallel algorithm for $k$-clique counting/listing that has polylogarithmic span (parallel time) and is work-efficient (matches the work of the best sequential algorithm) for sparse graphs. Our algorithm is based on…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…

Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…

This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we extract fundamental geometric primitives, including planes,…

Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…

In real-time Visual SLAM systems, local mapping must operate under strict latency constraints, as delays degrade map quality and increase the risk of tracking failure. GPU parallelization offers a promising way to reduce latency. However,…

Point cloud registration is a fundamental problem for large-scale 3D scene scanning and reconstruction. With the help of deep learning, registration methods have evolved significantly, reaching a nearly-mature stage. As the introduction of…

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…