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

With the rapid development of computer vision and deep learning, significant advancements have been made in 3D vision, partic- ularly in autonomous driving, robotic perception, and augmented reality. 3D point cloud data, as a crucial…

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…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

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…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

Orienting point clouds is a fundamental problem in computer graphics and 3D vision, with applications in reconstruction, segmentation, and analysis. While significant progress has been made, existing approaches mainly focus on watertight,…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

Deep point cloud registration methods face challenges to partial overlaps and rely on labeled data. To address these issues, we propose UDPReg, an unsupervised deep probabilistic registration framework for point clouds with partial…

In this paper, we present a novel registration framework, HumanReg, that learns a non-rigid transformation between two human point clouds end-to-end. We introduce body prior into the registration process to efficiently handle this type of…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

The robust adaptive beamforming (RAB) problem for general-rank signal model with an additional positive semi-definite constraint is considered. Using the principle of the worst-case performance optimization, such RAB problem leads to a…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

In this paper, we study possible extensions of the main ideas and methods of constrained DC optimization to the case of nonlinear semidefinite programming problems and more general nonlinear and nonsmooth cone constrained optimization…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a…

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

This paper considers the decentralized convex optimization problem, which has a wide range of applications in large-scale machine learning, sensor networks, and control theory. We propose novel algorithms that achieve optimal computation…

Partial to Partial Point Cloud Registration (partial PCR) remains a challenging task, particularly when dealing with a low overlap rate. In comparison to the full-to-full registration task, we find that the objective of partial PCR is still…