7 papers
FUSER: Feed-Forward MUltiview 3D Registration Transformer and SE(3) Diffusion Refinement
Haobo Jiang, Jin Xie, Jian Yang +2
Registration of multiview point clouds conventionally relies on extensive pairwise matching to build a pose graph for global synchronization, which is computationally expensive and…
A Cross-view Fusion Framework for Robust 6-DoF Grasp Pose Estimation
Kangjian Zhu, Haobo Jiang, Jianjun Qian +1
In this paper, we propose a cross-view fusion framework that enhances the robustness of 6-DoF grasp pose estimation in corner views. Our framework alleviates occlusion by incorpora…
VGGT-360: Geometry-Consistent Zero-Shot Panoramic Depth Estimation
Jiayi Yuan, Haobo Jiang, De Wen Soh +1
This paper presents VGGT-360, a novel training-free framework for zero-shot, geometry-consistent panoramic depth estimation. Unlike prior view-independent training-free approaches,…
Geometry-to-Image Synthesis-Driven Generative Point Cloud Registration
Haobo Jiang, Jin Xie, Jian Yang +2
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 regis…
MonoSE(3)-Diffusion: A Monocular SE(3) Diffusion Framework for Robust Camera-to-Robot Pose Estimation
Kangjian Zhu, Haobo Jiang, Yigong Zhang +3
We propose MonoSE(3)-Diffusion, a monocular SE(3) diffusion framework that formulates markerless, image-based robot pose estimation as a conditional denoising diffusion process. Th…
Diff-Reg v2: Diffusion-Based Matching Matrix Estimation for Image Matching and 3D Registration
Qianliang Wu, Haobo Jiang, Yaqing Ding +5
Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registrati…