相关论文: Point Cloud Registration via Probabilistic Self-Up…

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…

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 continual improvement of 3D sensors has driven the development of algorithms to perform point cloud analysis. In fact, techniques for point cloud classification and segmentation have in recent years achieved incredible performance…

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…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

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…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

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…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

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…

Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism…

We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

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…