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

This paper revisits few-shot 3D point cloud semantic segmentation (FS-PCS), with a focus on two significant issues in the state-of-the-art: foreground leakage and sparse point distribution. The former arises from non-uniform point sampling,…

We introduce C-GenReg, a training-free framework for 3D point cloud registration that leverages the complementary strengths of world-scale generative priors and registration-oriented Vision Foundation Models (VFMs). Current learning-based…

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…

We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use…

Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

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…

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…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide model learning. This setting presents two primary challenges:…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Open-vocabulary 3D scene understanding is crucial for applications requiring natural language-driven spatial interpretation, such as robotics and augmented reality. While 3D Gaussian Splatting (3DGS) offers a powerful representation for…

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…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Achieving a consistent and compact 3D segmentation field is crucial for maintaining semantic coherence across views and accurately representing scene structures. Previous 3D scene segmentation methods rely on video segmentation models to…