Point cloud geometry is cast as a statistical manifold of per-point Gaussians, with POLI learning the mapping self-supervisedly to improve perception without labeled data.
KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way.IEEE Robotics and Automation Letters, 8(2):1029– 1036
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Learning Point Cloud Geometry as a Statistical Manifold: Theory and Practice
Point cloud geometry is cast as a statistical manifold of per-point Gaussians, with POLI learning the mapping self-supervisedly to improve perception without labeled data.