FreeReg: Image-to-Point Cloud Registration Leveraging Pretrained Diffusion Models and Monocular Depth Estimators.
Haiping WangYuan LiuBing WangYujing SunZhen DongWenping WangBisheng YangPublished in: CoRR (2023)
Keyphrases
- visual odometry
- point cloud
- ego motion
- stereo camera
- depth images
- surface reconstruction
- depth cues
- laser scanner
- structure from motion
- diffusion models
- input image
- image sequences
- image analysis
- image data
- pose estimation
- depth map
- point sets
- image segmentation
- single image
- edge detection
- image matching
- high resolution
- multiscale
- image registration
- rigid registration
- range data
- motion estimation
- registration accuracy
- similarity measure
- icp algorithm
- feature points
- computer vision