The DOI matches its Crossref record; 51 of the 51 references it cites were found in a registry or an index.
Deep Global Registration
Open accessAbstract
We present Deep Global Registration, a differentiable framework for pairwise registration of real-world 3D scans. Deep global registration is based on three modules: a 6-dimensional convolutional network for correspondence confidence prediction, a differentiable Weighted Procrustes algorithm for closed-form pose estimation, and a robust gradient-based SE(3) optimizer for pose refinement. Experiments demonstrate that our approach outperforms state-of-the-art methods, both learning-based and classical, on real-world data.
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Cites
A method for registration of 3-D shapes
Besl, P. J., & McKay, N. D. (1992) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.121791 · Cited by 18,103
Are we ready for autonomous driving? The KITTI vision benchmark suite
Geiger, A., Lenz, P., & Urtasun, R. (2012) · 2012 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2012.6248074 · Cited by 14,897
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ORB-SLAM: A Versatile and Accurate Monocular SLAM System
Mur-Artal, R., Montiel, J. M. M., & Tardos, J. D. (2015) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2463671 · Cited by 6,778
Fast Point Feature Histograms (FPFH) for 3D registration
Rusu, R. B., Blodow, N., & Beetz, M. (2009) · 2009 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2009.5152473 · Cited by 3,878
Generalized procrustes analysis
Gower, J. C. (1975) · Psychometrika · doi:10.1007/bf02291478 · Cited by 3,267
ORB-SLAM: A Versatile and Accurate Monocular SLAM System
Mur-Artal, R., Montiel, J. M. M., & Tardos, J. D. (2015) · Zaguan (Universidad de Zaragoza) · Cited by 3,153
Using spin images for efficient object recognition in cluttered 3D scenes
Johnson, A. E., & Hebert, M. (1999) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.765655 · Cited by 2,599
Iterative point matching for registration of free-form curves and surfaces
Zhang, Z. (1994) · International Journal of Computer Vision · doi:10.1007/bf01427149 · Cited by 2,402
Efficient RANSAC for Point‐Cloud Shape Detection
Schnabel, R., Wahl, R., & Klein, R. (2007) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2007.01016.x · Cited by 2,106
Cited by
TEASER: Fast and Certifiable Point Cloud Registration
Yang, H., Shi, J., & Carlone, L. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2020.3033695 · Cited by 895
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
Bai, C., Xiao, T., Chen, Y., Wang, H., Zhang, F., & Gao, X. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3152830 · Cited by 389
GeoTransformer: Fast and Robust Point Cloud Registration With Geometric Transformer
Qin, Z., Yu, H., Wang, C., Guo, Y., Peng, Y., Ilic, S., Hu, D., & Xu, K. (2023) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2023.3259038 · Cited by 279
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM
Cattaneo, D., Vaghi, M., & Valada, A. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3150683 · Cited by 258
Metadata
- Authors
- Choy, C., Dong, W., & Koltun, V.
- Venue
- 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
- Publisher
- IEEE
- Published
- 2020-06
- Pages
- 2511-2520
- ISSN
- 1063-6919 (ISSN-L)
- OpenAlex
- W3017601176
- Cited by
- 548
- References
- 51
- FWCI
- 69.29
- Type
- conference paper
- Language
- en
- Open access
- green
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