arXiv subjects

Qianliang Wu

Publications and source records attributed to Qianliang Wu.

8 recordsLinked to original sources

arXiv2026

BridgeMatch: Conditional Transport Bridges in Matching Matrix Space for 3D Deformable Registration

Reliable non-rigid point cloud correspondences are important for deformable anatomical registration, embodied perception and manipulation, and dynamic 3D reconstruction. Coarse-to-fine methods reduce computational cost by selecting the top-$K$ coarse regions. However, this pruning may remove weak but correct hypotheses and restrict fine matching to an incomplete search space. We present \paper, a two-stage generative solver that maintains the complete soft matching matrix at both coarse and high resolutions. Stage~I uses denoising diffusion to estimate a global matching matrix in the compact coarse-resolution space. We then lift this matrix to high resolution while preserving its hierarchy. The lifted matrix is rank-bounded and block-constant. Stage~II refines it through a conditional transport bridge. We implement the bridge with two types of dynamics: a deterministic endpoint-parameterized conditional Flow Matching (CFM) ODE and a stochastic Brownian-bridge SDE inspired by Schrödinger bridges. Both variants share the lifted source, a time-conditioned transformer, and a matching-matrix endpoint predictor. Experiments on 4DMatch and 4DLoMatch show that both variants produce more accurate correspondences than the compared methods and improve downstream registration, with larger gains in low-overlap cases. They also improve cross-dataset generalization on CAPE and DeepDeform without target-domain adaptation while using the same deformation solver.

cs.CV↗

arXiv2026

Diff-PCR: Diffusion-Based Correspondence Searching in Doubly Stochastic Matrix Space for Point Cloud Registration

Efficiently identifying accurate correspondences between point clouds is crucial for both rigid and non-rigid point cloud registration. Existing methods usually rely on geometric or semantic feature embeddings to establish correspondences and then estimate transformations or flow fields. Recently, several state-of-the-art methods have adopted RAFT-like iterative updates to refine solutions. However, these methods still have two major limitations. First, their iterative refinement mechanism lacks transparency, and the update trajectory is largely fixed once the refinement starts, which may lead to suboptimal solutions. Second, they overlook the importance of explicitly refining the correspondence matrix before solving for transformations or flow fields. Most existing approaches compute candidate correspondences in feature space and project the resulting matching matrix only once by using Sinkhorn or dual-softmax normalization. Such a one-shot projection can be far from the globally optimal solution, and these methods usually do not model the distribution of the target matching matrix. In this paper, we propose a novel framework that exploits a denoising diffusion model to predict a search gradient for the optimal matching matrix in doubly stochastic matrix space. Specifically, the diffusion model learns a denoising direction, and the reverse denoising process iteratively searches for improved solutions along this learned direction, which approximates the maximum-likelihood direction of the target matching matrix. To improve efficiency, we design a lightweight denoising module and adopt the accelerated sampling strategy of the Denoising Diffusion Implicit Model (DDIM)\cite{song2020denoising}. Experimental results on 3DMatch/3DLoMatch and 4DMatch/4DLoMatch demonstrate the effectiveness of the proposed framework.

cs.CV↗

arXiv2025

Three-view Focal Length Recovery From Homographies

In this paper, we propose a novel approach for recovering focal lengths from three-view homographies. By examining the consistency of normal vectors between two homographies, we derive new explicit constraints between the focal lengths and homographies using an elimination technique. We demonstrate that three-view homographies provide two additional constraints, enabling the recovery of one or two focal lengths. We discuss four possible cases, including three cameras having an unknown equal focal length, three cameras having two different unknown focal lengths, three cameras where one focal length is known, and the other two cameras have equal or different unknown focal lengths. All the problems can be converted into solving polynomials in one or two unknowns, which can be efficiently solved using Sturm sequence or hidden variable technique. Evaluation using both synthetic and real data shows that the proposed solvers are both faster and more accurate than methods relying on existing two-view solvers. The code and data are available on https://github.com/kocurvik/hf

cs.CV↗

arXiv2025

Diff-Reg v2: Diffusion-Based Matching Matrix Estimation for Image Matching and 3D Registration

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges such as scale inconsistencies, symmetry, and large deformations, which can lead to ambiguous matches. Previous feature-based and correspondence-based methods typically rely on geometric or semantic features to generate or polish initial potential correspondences. Some methods typically leverage specific geometric priors, such as topological preservation, to devise diverse and innovative strategies tailored to a given enhancement goal, which cannot be exhaustively enumerated. Additionally, many previous approaches rely on a single-step prediction head, which can struggle with local minima in complex matching scenarios. To address these challenges, we introduce an innovative paradigm that leverages a diffusion model in matrix space for robust matching matrix estimation. Our model treats correspondence estimation as a denoising diffusion process in the matching matrix space, gradually refining the intermediate matching matrix to the optimal one. Specifically, we apply the diffusion model in the doubly stochastic matrix space for 3D-3D and 2D-3D registration tasks. In the 2D image registration task, we deploy the diffusion model in a matrix subspace where dual-softmax projection regularization is applied. For all three registration tasks, we provide adaptive matching matrix embedding implementations tailored to the specific characteristics of each task while maintaining a consistent "match-to-warp" encoding pattern. Furthermore, we adopt a lightweight design for the denoising module. In inference, once points or image features are extracted and fixed, this module performs multi-step denoising predictions through reverse sampling.

cs.CV↗

arXiv2024

SGNet: Salient Geometric Network for Point Cloud Registration

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across different scans. Previous methods have encountered challenges with ambiguous matching due to the similarity among patch blocks throughout the entire point cloud and the lack of consideration for efficient global geometric consistency. To address these issues, we propose a new framework that includes several novel techniques. Firstly, we introduce a semantic-aware geometric encoder that combines object-level and patch-level semantic information. This encoder significantly improves registration recall by reducing ambiguity in patch-level superpoint matching. Additionally, we incorporate a prior knowledge approach that utilizes an intrinsic shape signature to identify salient points. This enables us to extract the most salient super points and meaningful dense points in the scene. Secondly, we introduce an innovative transformer that encodes High-Order (HO) geometric features. These features are crucial for identifying salient points within initial overlap regions while considering global high-order geometric consistency. To optimize this high-order transformer further, we introduce an anchor node selection strategy. By encoding inter-frame triangle or polyhedron consistency features based on these anchor nodes, we can effectively learn high-order geometric features of salient super points. These high-order features are then propagated to dense points and utilized by a Sinkhorn matching module to identify key correspondences for successful registration. In our experiments conducted on well-known datasets such as 3DMatch/3DLoMatch and KITTI, our approach has shown promising results, highlighting the effectiveness of our novel method.

cs.CV↗

arXiv2024

Diff-Reg v1: Diffusion Matching Model for Registration Problem

Establishing reliable correspondences is essential for registration tasks such as 3D and 2D3D registration. Existing methods commonly leverage geometric or semantic point features to generate potential correspondences. However, these features may face challenges such as large deformation, scale inconsistency, and ambiguous matching problems (e.g., symmetry). Additionally, many previous methods, which rely on single-pass prediction, may struggle with local minima in complex scenarios. To mitigate these challenges, we introduce a diffusion matching model for robust correspondence construction. Our approach treats correspondence estimation as a denoising diffusion process within the doubly stochastic matrix space, which gradually denoises (refines) a doubly stochastic matching matrix to the ground-truth one for high-quality correspondence estimation. It involves a forward diffusion process that gradually introduces Gaussian noise into the ground truth matching matrix and a reverse denoising process that iteratively refines the noisy matching matrix. In particular, the feature extraction from the backbone occurs only once during the inference phase. Our lightweight denoising module utilizes the same feature at each reverse sampling step. Evaluation of our method on both 3D and 2D3D registration tasks confirms its effectiveness. The code is available at https://github.com/wuqianliang/Diff-Reg.

cs.CV↗

arXiv2023

Graph Matching Optimization Network for Point Cloud Registration

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize the geometric structure information in point feature embedding or outlier rejection for registration while neglecting to consider explicitly isometry-preserving constraint ($e.g.,$ point pair linked edge's length preserving after transformation) in training. We claim that the explicit isometry-preserving constraint is also important for improving feature representation abilities in the feature training stage. To this end, we propose a \underline{G}raph \underline{M}atching \underline{O}ptimization based \underline{Net}work (GMONet for short), which utilizes the graph-matching optimizer to explicitly exert the isometry preserving constraints in the point feature training to improve the point feature representation. Specifically, we exploit a partial graph-matching optimizer to optimize the super point ($i.e.,$ down-sampled key points) features and a full graph-matching optimizer to optimize fine-level point features in the overlap region. Meanwhile, we leverage the inexact proximal point method and the mini-batch sampling technique to accelerate these two graph-matching optimizers. Given high discriminative point features in the evaluation stage, we utilize the RANSAC approach to estimate the transformation between the scanned pairs. The proposed method has been evaluated on the 3DMatch/3DLoMatch benchmarks and the KITTI benchmark. The experimental results show that our method performs competitively compared to state-of-the-art baselines.

cs.CV↗

arXiv2020

Interest-Behaviour Multiplicative Network for Resource-limited Recommendation

Resource constraints, e.g. limited product inventory or financial strength, may affect consumers' choices or preferences in some recommendation tasks but are usually ignored in previous recommendation methods. In this paper, we aim to mine the cue of user preferences in resource-limited recommendation tasks, for which purpose we specifically build a large used car transaction dataset possessing resource-limitation characteristics. Accordingly, we propose an interest-behavior multiplicative network to predict the user's future interaction based on dynamic connections between users and items. To describe the user-item connection dynamically, mutually-recursive recurrent neural networks (MRRNNs) are introduced to capture interactive long-term dependencies, and meantime effective representations of users and items are obtained. To further take the resource limitation into consideration, a resource-limited branch is built to specifically explore the influence of resource variation on user preferences. Finally, mutual information is introduced to measure the similarity between the user action and fused features to predict future interaction, where the fused features come from both MRRNNs and resource-limited branches. We test the performance on the built used car transaction dataset as well as the Tmall dataset, and the experimental results verify the effectiveness of our framework.

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