4 papers
FlashReg: GPU-Accelerated 3-Clique Point Cloud Registration for Real-Time Correspondence-to-Pose Estimation
Ziyang Yu, Xiang Li, Qiong Chang +1
Graph-based point cloud registration achieves high robustness by identifying geometrically consistent correspondence sets, but constructing second-order compatibility graphs and en…
RadiusFPS: Efficient Farthest Point Sampling on CPUs and GPUs via Spherical Voxel Pruning
Ziyang Yu, Xiang Li, Qiong Chang +1
Point clouds are a primary sensory representation for robotic perception, underpinning LiDAR-based autonomous driving, simultaneous localization and mapping (SLAM), and navigation.…
A dynamic memory assignment strategy for dilation-based ICP algorithm on embedded GPUs
Qiong Chang, Weimin Wang, Junpei Zhong +1
This paper proposes a memory-efficient optimization strategy for the high-performance point cloud registration algorithm VANICP, enabling lightweight execution on embedded GPUs wit…
GRNND: A GPU-Parallel Relative NN-Descent Algorithm for Efficient Approximate Nearest Neighbor Graph Construction
Xiang Li, Qiong Chang, Yun Li +1
Relative Nearest Neighbor Descent (RNN-Descent) is a state-of-the-art algorithm for constructing sparse approximate nearest neighbor (ANN) graphs by combining the iterative refinem…