相关论文: Decision PCR: Decision version of the Point Cloud …

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

We tackle data-driven 3D point cloud registration. Given point correspondences, the standard Kabsch algorithm provides an optimal rotation estimate. This allows to train registration models in an end-to-end manner by differentiating the SVD…

The intrinsic rotation invariance lies at the core of matching point clouds with handcrafted descriptors. However, it is widely despised by recent deep matchers that obtain the rotation invariance extrinsically via data augmentation. As the…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Following the advent of immersive technologies and the increasing interest in representing interactive geometrical format, 3D Point Clouds (PC) have emerged as a promising solution and effective means to display 3D visual information. In…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

The success of deep learning methods led to significant breakthroughs in 3-D point cloud processing tasks with applications in remote sensing. Existing methods utilize convolutions that have some limitations, as they assume a uniform input…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order…

Radar perception models are trained with different inputs, from range-Doppler spectra to sparse point clouds. Dense spectra are assumed to outperform sparse point clouds, yet they can vary considerably across sensors and configurations,…

Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…

Learning a powerful representation from point clouds is a fundamental and challenging problem in the field of computer vision. Different from images where RGB pixels are stored in the regular grid, for point clouds, the underlying semantic…

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism…