相关论文: DINOReg: Strong Point Cloud Registration with Visi…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

This paper presents a new ambient light normalization framework, DINOLight, that integrates the self-supervised model DINOv2's image understanding capability into the restoration process as a visual prior. Ambient light normalization aims…

We propose FlowReg, a deep learning-based framework for unsupervised image registration for neuroimaging applications. The system is composed of two architectures that are trained sequentially: FlowReg-A which affinely corrects for gross…

Inspired by the recent PointHop classification method, an unsupervised 3D point cloud registration method, called R-PointHop, is proposed in this work. R-PointHop first determines a local reference frame (LRF) for every point using its…

Point cloud shape completion is a challenging problem in 3D vision and robotics. Existing learning-based frameworks leverage encoder-decoder architectures to recover the complete shape from a highly encoded global feature vector. Though the…

We present a novel and flexible architecture for point cloud segmentation with dual-representation iterative learning. In point cloud processing, different representations have their own pros and cons. Thus, finding suitable ways to…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

The purpose of intrinsic decomposition is to separate an image into its albedo (reflective properties) and shading components (illumination properties). This is challenging because it's an ill-posed problem. Conventional approaches…

Co-Registration of aerial imagery and Light Detection and Ranging (LiDAR) data is quilt challenging because the different imaging mechanism causes significant geometric and radiometric distortions between such data. To tackle the problem,…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

Event cameras have emerged as a promising vision sensor in recent years due to their unparalleled temporal resolution and dynamic range. While registration of 2D RGB images to 3D point clouds is a long-standing problem in computer vision,…

Point clouds have been recognized as a crucial data structure for 3D content and are essential in a number of applications such as virtual and mixed reality, autonomous driving, cultural heritage, etc. In this paper, we propose a set of…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…