相关论文: Skeleton-based Robust Registration Framework for C…

Skeletonization is a powerful tool for shape analysis, rooted in the inherent instinct to understand an object's morphology. It has found applications across various domains, including robotics. Although skeletonization algorithms have been…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Neural Radiance Field (NeRF) has demonstrated excellent quality in novel view synthesis, thanks to its ability to model 3D object geometries in a concise formulation. However, current approaches to NeRF-based models rely on clean images…

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Robust and accurate 2D/3D registration, which aligns preoperative models with intraoperative images of the same anatomy, is crucial for successful interventional navigation. To mitigate the challenge of a limited field of view in…

Soft-tissue surgeries, such as tumor resections, are complicated by tissue deformations that can obscure the accurate location and shape of tissues. By representing tissue surfaces as point clouds and applying non-rigid point cloud…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

3D scene registration is a fundamental problem in computer vision that seeks the best 6-DoF alignment between two scenes. This problem was extensively investigated in the case of point clouds and meshes, but there has been relatively…

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…

Deformable image registration poses a challenging problem where, unlike most deep learning tasks, a complex relationship between multiple coordinate systems has to be considered. Although data-driven methods have shown promising…

We tackle here the problem of multimodal image non-rigid registration, which is of prime importance in remote sensing and medical imaging. The difficulties encountered by classical registration approaches include feature design and slow…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

This paper presents preliminary work on a novel connection between certified robustness in machine learning and the modeling of 3D objects. We highlight an intriguing link between the Maximal Certified Radius (MCR) of a classifier…

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Unsupervised registration strategies bypass requirements in ground truth transforms or segmentations by optimising similarity metrics between fixed and moved volumes. Among these methods, a recent subclass of approaches based on…

Robust 3D perception under corruption has become an essential task for the realm of 3D vision. While current data augmentation techniques usually perform random transformations on all point cloud objects in an offline way and ignore the…

Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame,…