相关论文: DC-Reg: Globally Optimal Point Cloud Registration …

Partial point cloud registration is essential for autonomous perception and 3D scene understanding, yet it remains challenging owing to structural ambiguity, partial visibility, and noise. We address these issues by proposing Confidence…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

Noisy, partially overlapping data and the need for real-time processing pose major challenges for rigid registration. Considering that feature-based matching can handle large transformation differences but suffers from limited accuracy,…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

We consider the problem of rigid registration, where we wish to jointly register multiple point sets via rigid transforms. This arises in applications such as sensor network localization, multiview registration, and protein structure…

Recent results showed that point cloud registration with given correspondences can be made robust to outlier rates of up to 95\% using the truncated least squares (TLS) formulation. However, solving this combinatorial optimization problem…

This work studies the problem of unsupervised RGB-D point cloud registration, which aims at training a robust registration model without ground-truth pose supervision. Existing methods usually leverages unposed RGB-D sequences and adopt a…

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…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

The rigid registration of two 3D point sets is a fundamental problem in computer vision. The current trend is to solve this problem globally using the BnB optimization framework. However, the existing global methods are slow for two main…

Point cloud registration plays a crucial role in various fields, including robotics, computer graphics, and medical imaging. This process involves determining spatial relationships between different sets of points, typically within a 3D…