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Point Cloud Registration

24 papers with code · Computer Vision

Point Cloud Registration is a fundamental problem in 3D computer vision and photogrammetry. Given several sets of points in different coordinate systems, the aim of registration is to find the transformation that best aligns all of them into a common coordinate system. Point Cloud Registration plays a significant role in many vision applications such as 3D model reconstruction, cultural heritage management, landslide monitoring and solar energy analysis.

Source: Iterative Global Similarity Points : A robust coarse-to-fine integration solution for pairwise 3D point cloud registration

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Greatest papers with code

TEASER: Fast and Certifiable Point Cloud Registration

21 Jan 2020MIT-SPARK/TEASER-plusplus

We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences.

OBJECT DETECTION POINT CLOUD REGISTRATION

PointNetLK: Robust & Efficient Point Cloud Registration using PointNet

CVPR 2019 hmgoforth/PointNetLK

To date, the successful application of PointNet to point cloud registration has remained elusive.

POINT CLOUD REGISTRATION

Learning multiview 3D point cloud registration

CVPR 2020 chrischoy/FCGF

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm.

POINT CLOUD REGISTRATION

Fast and Accurate Point Cloud Registration using Trees of Gaussian Mixtures

6 Jul 2018neka-nat/probreg

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality.

AUTONOMOUS NAVIGATION POINT CLOUD REGISTRATION SCENE RECOGNITION

DVI: Depth Guided Video Inpainting for Autonomous Driving

17 Jul 2020ApolloScapeAuto/dataset-api

To get clear street-view and photo-realistic simulation in autonomous driving, we present an automatic video inpainting algorithm that can remove traffic agents from videos and synthesize missing regions with the guidance of depth/point cloud.

AUTONOMOUS DRIVING POINT CLOUD REGISTRATION VIDEO INPAINTING

Robust Point Set Registration Using Gaussian Mixture Models

IEEE Transactions on Pattern Analysis and Machine Intelligence 2010 bing-jian/gmmreg

Then, the problem of point set registration is reformulated as the problem of aligning two Gaussian mixtures such that a statistical discrepancy measure between the two corresponding mixtures is minimized.

3D POINT CLOUD MATCHING POINT CLOUD REGISTRATION

Deep Closest Point: Learning Representations for Point Cloud Registration

ICCV 2019 WangYueFt/dcp

To address local optima and other difficulties in the ICP pipeline, we propose a learning-based method, titled Deep Closest Point (DCP), inspired by recent techniques in computer vision and natural language processing.

POINT CLOUD REGISTRATION

3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration

ECCV 2018 yewzijian/3DFeatNet

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision.

POINT CLOUD REGISTRATION

DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds

CVPR 2019 ai4ce/DeepMapping

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame.

POINT CLOUD REGISTRATION

SampleNet: Differentiable Point Cloud Sampling

CVPR 2020 itailang/SampleNet

As the size of the point cloud grows, so do the computational demands of these tasks.

POINT CLOUD REGISTRATION