相关论文: Robust Partial 3D Point Cloud Registration via Con…

This paper proposes an adaptive margin contrastive learning method for 3D semantic segmentation on point clouds. Most existing methods use equally penalized objectives, which ignore the per-point ambiguities and less discriminated features…

Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that human perception operates at higher levels and interprets 3D…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning with partial information. We propose a graph-based learning…

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation,…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

Existing point cloud completion methods, which typically depend on predefined synthetic training datasets, encounter significant challenges when applied to out-of-distribution, real-world scans. To overcome this limitation, we introduce a…

Semantic segmentation is an important task for numerous applications but it is still quite challenging to achieve advanced performance with limited computational costs. In this paper, we present CGRSeg, an efficient yet competitive…

Traditional end-to-end contextual robust optimization models are trained for specific contextual data, requiring complete retraining whenever new contextual information arrives. This limitation hampers their use in online decision-making…

The interest in matching non-rigidly deformed shapes represented as raw point clouds is rising due to the proliferation of low-cost 3D sensors. Yet, the task is challenging since point clouds are irregular and there is a lack of intrinsic…

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…

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…

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…

In this paper, based on the assumption that the object boundaries (e.g., buildings) from the over-view data should coincide with footprints of fa\c{c}ade 3D points generated from street-view photogrammetric images, we aim to address this…

In image-guided liver surgery, the initial rigid alignment between preoperative and intraoperative data, often represented as point clouds, is crucial for providing sub-surface information from preoperative CT/MRI images to the surgeon…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

The effective segmentation of 3D data is crucial for a wide range of industrial applications, especially for detecting subtle defects in the field of integrated circuits (IC). Ceramic package substrates (CPS), as an important electronic…

Point clouds registration is a fundamental step of many point clouds processing pipelines; however, most algorithms are tested on data that are collected ad-hoc and not shared with the research community. These data often cover only a very…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…