Geometric 3D point cloud compression

The use of 3D data in mobile robotics applications provides valuable information about the robot’s environment but usually the huge amount of 3D information is unmanageable by the robot storage and computing capabilities. A data compression is necessary to store and manage this information but preserving as much information as possible. In this paper, we propose a 3D lossy compression system based on plane extraction which represent the points of each scene plane as a Delaunay triangulation and a set of points/area information. The compression system can be customized to achieve different data compression or accuracy ratios. It also supports a color segmentation stage to preserve original scene color information and provides a realistic scene reconstruction. The design of the method provides a fast scene reconstruction useful for further visualization or processing tasks.This work has been supported by the Spanish Government DPI2013-40534-R grant

GPUMLib: Deep Learning SOM Library for Surface Reconstruction

The evolution of 3D scanning devices and innovation in computer processing power and storage capacity has sparked the revolution of producing big point-cloud datasets. This phenomenon has becoming an integral part of the sophisticated building design process especially in the era of 4th Industrial Revolution. The big point-cloud datasets have caused complexity in handling surface reconstruction and visualization since existing algorithms are not so readily available. In this context, the surface reconstruction intelligent algorithms need to be revolutionized to deal with big point-cloud datasets in tandem with the advancement of hardware processing power and storage capacity. In this study, we propose GPUMLib – deep learning library for self-organizing map (SOM-DLLib) to solve problems involving big point-cloud datasets from 3D scanning devices. The SOM-DLLib consists of multiple layers for reducing and optimizing those big point cloud datasets. The findings show the final objects are successfully reconstructed with optimized neighborhood representation and the performance becomes better as the size of point clouds increases

Optimizing Geometry Compression using Quantum Annealing

The compression of geometry data is an important aspect of bandwidth-efficient data transfer for distributed 3d computer vision applications. We propose a quantum-enabled lossy 3d point cloud compression pipeline based on the constructive solid geometry (CSG) model representation. Key parts of the pipeline are mapped to NP-complete problems for which an efficient Ising formulation suitable for the execution on a Quantum Annealer exists. We describe existing Ising formulations for the maximum clique search problem and the smallest exact cover problem, both of which are important building blocks of the proposed compression pipeline. Additionally, we discuss the properties of the overall pipeline regarding result optimality and described Ising formulations.Comment: 6 pages, 3 figure

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

GPUMLib: deep learning SOM library for surface reconstruction

The evolution of 3D scanning devices and innovation in computer processing power and storage capacity has sparked the revolution of producing big point-cloud datasets. This phenomenon has becoming an integral part of the sophisticated building design process especially in the era of 4th Industrial Revolution. The big point-cloud datasets have caused complexity in handling surface reconstruction and visualization since existing algorithms are not so readily available. In this context, the surface reconstruction intelligent algorithms need to be revolutionized to deal with big point-cloud datasets in tandem with the advancement of hardware processing power and storage capacity. In this study, we propose GPUMLib - deep learning library for self-organizing map (SOM-DLLib) to solve problems involving big point-cloud datasets from 3D scanning devices. The SOM-DLLib consists of multiple layers for reducing and optimizing those big point cloud datasets. The findings show the final objects are successfully reconstructed with optimized neighborhood representation and the performance becomes better as the size of point clouds increases

A 3D object encryption scheme which maintains dimensional and spatial stability

Due to widespread applications of 3D vision technology, the research into 3D object protection is primarily important. To maintain confidentiality, encryption of 3D objects is essential. However, the requirements and limitations imposed by 3D objects indicate the impropriety of conventional cryptosystems for 3D object encryption. This suggests the necessity of designing new ciphers. In addition, the study of prior works indicates that the majority of problems encountered with encrypting 3D objects are about point cloud protection, dimensional and spatial stability, and robustness against surface reconstruction attacks. To address these problems, this paper proposes a 3D object encryption scheme, based on a series of random permutations and rotations, which deform the geometry of the point cloud. Since the inverse of a permutation and a rotation matrix is its transpose, the decryption implementation is very efficient. Our statistical analyses show that within the cipher point cloud, points are randomly distributed. Furthermore, the proposed cipher leaks no information regarding the geometric structure of the plain point cloud, and is also highly sensitive to the changes of the plaintext and secret key. The theoretical and experimental analyses demonstrate the security, effectiveness, and robustness of the proposed cipher against surface reconstruction attacks