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

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

We introduce a novel robust hybrid 3D face tracking framework from RGBD video streams, which is capable of tracking head pose and facial actions without pre-calibration or intervention from a user. In particular, we emphasize on improving…

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…

Surface cracks on buildings, natural walls and underground mine tunnels can indicate serious structural integrity issues that threaten the safety of the structure and people in the environment. Timely detection and monitoring of cracks are…

Non-rigid alignment of point clouds is crucial for scene understanding, reconstruction, and various computer vision and robotics tasks. Recent advancements in implicit deformation networks for non-rigid registration have significantly…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Neural implicit functions have recently shown promising results on surface reconstructions from multiple views. However, current methods still suffer from excessive time complexity and poor robustness when reconstructing unbounded or…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to…

Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in these settings due to…

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…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have advanced 3D reconstruction and novel view synthesis, but remain heavily dependent on accurate camera poses and dense viewpoint coverage. These requirements limit their…

We present a comprehensive survey and benchmark of both traditional and learning-based methods for surface reconstruction from point clouds. This task is particularly challenging for real-world acquisitions due to factors such as noise,…

Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques,…

We consider the challenging problem of learning Signed Distance Functions (SDF) from sparse and noisy 3D point clouds. In contrast to recent methods that depend on smoothness priors, our method, rooted in a distributionally robust…