5 research outputs found
3D Point Cloud Denoising via Deep Neural Network based Local Surface Estimation
We present a neural-network-based architecture for 3D point cloud denoising
called neural projection denoising (NPD). In our previous work, we proposed a
two-stage denoising algorithm, which first estimates reference planes and
follows by projecting noisy points to estimated reference planes. Since the
estimated reference planes are inevitably noisy, multi-projection is applied to
stabilize the denoising performance. NPD algorithm uses a neural network to
estimate reference planes for points in noisy point clouds. With more accurate
estimations of reference planes, we are able to achieve better denoising
performances with only one-time projection. To the best of our knowledge, NPD
is the first work to denoise 3D point clouds with deep learning techniques. To
conduct the experiments, we sample 40000 point clouds from the 3D data in
ShapeNet to train a network and sample 350 point clouds from the 3D data in
ModelNet10 to test. Experimental results show that our algorithm can estimate
normal vectors of points in noisy point clouds. Comparing to five competitive
methods, the proposed algorithm achieves better denoising performance and
produces much smaller variances
Learning Graph-Convolutional Representations for Point Cloud Denoising
Point clouds are an increasingly relevant data type but they are often
corrupted by noise. We propose a deep neural network based on
graph-convolutional layers that can elegantly deal with the
permutation-invariance problem encountered by learning-based point cloud
processing methods. The network is fully-convolutional and can build complex
hierarchies of features by dynamically constructing neighborhood graphs from
similarity among the high-dimensional feature representations of the points.
When coupled with a loss promoting proximity to the ideal surface, the proposed
approach significantly outperforms state-of-the-art methods on a variety of
metrics. In particular, it is able to improve in terms of Chamfer measure and
of quality of the surface normals that can be estimated from the denoised data.
We also show that it is especially robust both at high noise levels and in
presence of structured noise such as the one encountered in real LiDAR scans.Comment: European Conference on Computer Vision (ECCV) 202