The DOI matches its Crossref record; 4 of the 4 references it cites were found in a registry or an index.
3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions
Open accessAbstract
Matching local geometric features on real-world depth images is a challenging task due to the noisy, low-resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are typically based on histograms over geometric properties. In this paper, we present 3DMatch, a data-driven model that learns a local volumetric patch descriptor for establishing correspondences between partial 3D data. To amass training data for our model, we propose a self-supervised feature learning method that leverages the millions of correspondence labels found in existing RGB-D reconstructions. Experiments show that our descriptor is not only able to match local geometry in new scenes for reconstruction, but also generalize to different tasks and spatial scales (e.g. instance-level object model alignment for the Amazon Picking Challenge, and mesh surface correspondence). Results show that 3DMatch consistently outperforms other state-of-the-art approaches by a significant margin. Code, data, benchmarks, and pre-trained models are available online at http://3dmatch.cs.princeton.edu.
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ImageNet: A large-scale hierarchical image database
Deng, J., Dong, W., Socher, R., Li, L.-J., Li, K., & Fei-Fei, L. (2009) · 2009 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2009.5206848 · Cited by 65,333
Bundle Adjustment — A Modern Synthesis
Triggs, B., McLauchlan, P. F., Hartley, R. I., & Fitzgibbon, A. W. (2000) · Lecture Notes in Computer Science · doi:10.1007/3-540-44480-7_21 · Cited by 3,988
Unsupervised feature learning for 3D scene labeling
Lai, K., Bo, L., & Fox, D. (2014) · 2014 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2014.6907298 · Cited by 317
3D Convolutional Neural Networks for landing zone detection from LiDAR
Maturana, D., & Scherer, S. (2015) · 2015 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2015.7139679 · Cited by 203
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Park, J. J., Florence, P., Straub, J., Newcombe, R., & Lovegrove, S. (2019) · 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2019.00025 · Cited by 3,422
Matterport3D: Learning from RGB-D Data in Indoor Environments
Chang, A., Dai, A., Funkhouser, T., Halber, M., Niebner, M., Savva, M., Song, S., Zeng, A., & Zhang, Y. (2017) · 2017 International Conference on 3D Vision (3DV) · doi:10.1109/3dv.2017.00081 · Cited by 1,858
Self-citationImage Matching from Handcrafted to Deep Features: A Survey
Ma, J., Jiang, X., Fan, A., Jiang, J., & Yan, J. (2021) · International Journal of Computer Vision · doi:10.1007/s11263-020-01359-2 · Cited by 990
PREDATOR: Registration of 3D Point Clouds with Low Overlap
Huang, S., Gojcic, Z., Usvyatsov, M., Wieser, A., & Schindler, K. (2021) · 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr46437.2021.00425 · Cited by 721
Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning
Zeng, A., Song, S., Welker, S., Lee, J., Rodriguez, A., & Funkhouser, T. (2018) · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593986 · Cited by 606
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Metadata
- Authors
- Zeng, A., Song, S., Niessner, M., Fisher, M., Xiao, J., & Funkhouser, T.
- Venue
- 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
- Publisher
- IEEE
- Published
- 2017-07
- Pages
- 199-208
- ISSN
- 1063-6919 (ISSN-L)
- OpenAlex
- W2566265240
- Cited by
- 1,128
- References
- 4
- FWCI
- 108.80
- Type
- conference paper
- Language
- en
- Open access
- green
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- Zeng, A., Song, S., Niessner, M., Fisher, M., Xiao, J., & Funkhouser, T. (2017). 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions. 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR). https://doi.org/10.1109/cvpr.2017.29
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