Laser & Optoelectronics Progress, Volume. 60, Issue 16, 1615002(2023)

MSPoint: Point Cloud Denoising Network Based on Multiscale Distribution Score

Hao Hu1、*, Qibing Wang1, Jiawei Lu1, Hongye Su2, Jiankun Lai3, and Gang Xiao1、**
Author Affiliations
  • 1College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, Zhejiang, China
  • 2College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China
  • 3Zhejiang Xin Zailing Technology Co., Ltd., Hangzhou 310051, Zhejiang, China
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    The original point cloud obtained directly by equipment such as laser scanners is usually affected by noise, which will affect subsequent processing, such as three-dimensional reconstruction and semantic segmentation; as a result, the point cloud denoising algorithm becomes particularly crucial. The majority of currently available point cloud denoising networks use the distance between noise and clean points as the objective function during iterative training, which may cause point cloud aggravation and outliers. To address the above issues, a new denoising network called multiscale score point (MSPoint) based on multiscale point cloud distribution fraction (i.e., the gradient of point-cloud logarithmic probability function) is proposed. The displacement prediction and feature extraction modules make up the majority of the MSPoint network. Input the neighborhood of the point cloud in the feature extraction module and strengthen the antinoise performance of MSPoint by adding multiscale noise disturbance to the data, thereby leading the extracted features to have a stronger expression ability. According to the fraction predicted by the fraction estimation unit, the displacement prediction module iteratively learns the displacement of noise points. MSPoint provides stronger robustness than previous approaches and a superior denoising impact, according to experimental results on public datasets.

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    Hao Hu, Qibing Wang, Jiawei Lu, Hongye Su, Jiankun Lai, Gang Xiao. MSPoint: Point Cloud Denoising Network Based on Multiscale Distribution Score[J]. Laser & Optoelectronics Progress, 2023, 60(16): 1615002

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    Paper Information

    Category: Machine Vision

    Received: Aug. 29, 2022

    Accepted: Oct. 13, 2022

    Published Online: Aug. 18, 2023

    The Author Email: Hu Hao (huhao0127@yeah.net), Xiao Gang (xg@zjut.edu.cn)

    DOI:10.3788/LOP222402

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