The topic of this review is geometric registration in robotics. Registration algorithms
associate sets of data into a common coordinate system. They have been used extensively …

Plant phenomics is a new avenue for linking plant genomics and environmental studies,
thereby improving plant breeding and management. Remote sensing techniques have …

We introduce an approach for recovering the 6D pose of multiple known objects in a scene
captured by a set of input images with unknown camera viewpoints. First, we present a …

Abstract 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 …

This paper addresses the challenge of 6DoF pose estimation from a single RGB image
under severe occlusion or truncation. Many recent works have shown that a two-stage …

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation.
Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that …

The iterative closest point (ICP) algorithm and its variants are a fundamental technique for
rigid registration between two point sets, with wide applications in different areas from …

Loop closure detection is an essential component of simultaneous localization and mapping
(SLAM) systems, which reduces the drift accumulated over time. Over the years, several …

We present recursive cascaded networks, a general architecture that enables learning deep
cascades, for deformable image registration. The proposed architecture is simple in design …

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects
unseen during training. At inference time, the method only assumes knowledge of (i) a …