3DCOMET: 3D compression methods test dataset

The use of 3D data in mobile robotics applications provides valuable information about the robot’s environment. However usually the huge amount of 3D information is difficult to manage due to the fact that the robot storage system and computing capabilities are insufficient. Therefore, a data compression method is necessary to store and process this information while preserving as much information as possible. A few methods have been proposed to compress 3D information. Nevertheless, there does not exist a consistent public benchmark for comparing the results (compression level, distance reconstructed error, etc.) obtained with different methods. In this paper, we propose a dataset composed of a set of 3D point clouds with different structure and texture variability to evaluate the results obtained from 3D data compression methods. We also provide useful tools for comparing compression methods, using as a baseline the results obtained by existing relevant compression methods.This work was partially supported by grant DPI2013-40534-R of the Ministerio of Economia y Competitividad of the Spanish Government, supported with Feder funds, and Valencian’s Government project GV/2014/097

Compression and registration of 3D point clouds using GMMs

3D data sensors provide an enormous amount of information. It is necessary to develop efficient methods to manage this information under certain time, bandwidth or storage space requirements. In this work, we propose a 3D compression and decompression method. This method also allows the use of the compressed data for a registration process. First, points are selected and grouped, using a 3D-model based on planar surfaces. Next, we use a fast variant of Gaussian Mixture Models and an Expectation-Maximization algorithm to replace the points grouped in the previous step with a set of Gaussian distributions. These learned models can be used as features to find matches between two consecutive poses and apply 3D pose registration using RANSAC. Finally, the 3D map can be obtained by decompressing the models.This work has been supported by the Spanish Government TIN2016-76515-R Grant, supported with Feder funds

Three dimensional point cloud compression and decompression using polynomials of degree one

© 2019 by the authors. The availability of cheap depth range sensors has increased the use of an enormous amount of 3D information in hand-held and head-mounted devices. This has directed a large research community to optimize point cloud storage requirements by preserving the original structure of data with an acceptable attenuation rate. Point cloud compression algorithms were developed to occupy less storage space by focusing on features such as color, texture, and geometric information. In this work, we propose a novel lossy point cloud compression and decompression algorithm that optimizes storage space requirements by preserving geometric information of the scene. Segmentation is performed by using a region growing segmentation algorithm. The points under the boundary of the surfaces are discarded that can be recovered through the polynomial equations of degree one in the decompression phase. We have compared the proposed technique with existing techniques using publicly available datasets for indoor architectural scenes. The results show that the proposed novel technique outperformed all the techniques for compression rate and RMSE within an acceptable time scale