4 papers
Robust Partial 3D Point Cloud Registration via Confidence Estimation under Global Context
Yongqiang Wang, Weigang Li, Wenping Liu +2
Partial point cloud registration is essential for autonomous perception and 3D scene understanding, yet it remains challenging owing to structural ambiguity, partial visibility, an…
Skeleton-based Robust Registration Framework for Corrupted 3D Point Clouds
Yongqiang Wang, Weigang Li, Wenping Liu +2
Point cloud registration is fundamental in 3D vision applications, including autonomous driving, robotics, and medical imaging, where precise alignment of multiple point clouds is…
Desensitizing for Improving Corruption Robustness in Point Cloud Classification through Adversarial Training
Zhiqiang Tian, Weigang Li, Chunhua Deng +3
Due to scene complexity, sensor inaccuracies, and processing imprecision, point cloud corruption is inevitable. Over-reliance on input features is the root cause of DNN vulnerabili…
An Adaptive ICP LiDAR Odometry Based on Reliable Initial Pose
Qifeng Wang, Weigang Li, Lei Nie +3
As a key technology for autonomous navigation and positioning in mobile robots, light detection and ranging (LiDAR) odometry is widely used in autonomous driving applications. The…