Improved Point Cloud Guided Filtering Algorithm

yumeng Yan; Yuan Zhang; Min Pang; Fengguang Xiong; Xiaowen Yang

doi:10.3788/LOP231301

Laser & Optoelectronics Progress, Volume. 60, Issue 22, 2211006(2023)

Improved Point Cloud Guided Filtering Algorithm

yumeng Yan^1,2,3、**, Yuan Zhang^1,2,3、*, Min Pang^1,2,3, Fengguang Xiong^1,2,3, and Xiaowen Yang^1,2,3

Author Affiliations

¹College of Computer Science and Technology, North University of China, Taiyuan 030051, Shanxi , China

²Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan 030051, Shanxi , China

³Shanxi Province Vision Information Processing and Intelligent Robot Engineering Research Center, Taiyuan 030051, Shanxi , China

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Figures & Tables(10)

Fig. 1. Flow chart of the proposed algorithm

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Fig. 2. Normal vector comparison before and after the first filtering. (a) Before the filtering; (b) after the filtering

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Fig. 3. Effect of different algorithms on armadillo model. (a) Noise point cloud; (b) algorithm in Ref.[17]; (c) algorithm in Ref.[18]; (d) proposed algorithm

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Fig. 4. Effect of different algorithms on bunny model with Gaussian noise. (a) Noise point cloud; (b) algorithm in Ref.[17]; (c) algorithm in Ref.[18]; (d) proposed algorithm

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Fig. 5. Effect of different algorithms on hat model. (a) Noise point cloud; (b) algorithm in Ref.[17]; (c) algorithm in Ref.[18]; (d) proposed algorithm

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Fig. 6. Effect of different algorithms on tortuga model. (a) Noise point cloud; (b) algorithm in Ref.[17]; (c) algorithm in Ref.[18]; (d) proposed algorithm

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Fig. 7. Effect of different algorithms on galera model. (a) Noise point cloud; (b) algorithm in Ref.[17]; (c) algorithm in Ref.[18]; (d) proposed algorithm

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Table 1. Entropy value of each model treated by different algorithms
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Table 1. Entropy value of each model treated by different algorithms
Model Algorithm in Ref.［17］ Algorithm in Ref.［18］ Proposed algorithm
armadillo 601968 599683 574281
rabbit 181105 180240 177763
hat 97510 97370 90751
tortuga 241000 240976 232489
galera 231561 233595 216111

Table 2. Root mean square error of each model after different algorithm processing compared with that of the noiseless model
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Table 2. Root mean square error of each model after different algorithm processing compared with that of the noiseless model
Model Algorithm in Ref.［17］ Algorithm in Ref.［18］ Proposed algorithm
armadillo 0.3125 0.3302 0.3007
rabbit 0.0729 0.0775 0.0497
hat 0.0014 0.0014 0.0012
tortuga 0.0204 0.0205 0.0192
galera 0.0271 0.0280 0.0240

Table 3. Number of points and processing time of different models

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Table 3. Number of points and processing time of different models

Model	Number of point clouds		Processing time /s
Model	Number of point clouds	Algorithm in Ref.［17］	Algorithm in Ref.［18］	Proposed algorithm
armadillo	242729	2.581	2.650	3.338
rabbit	71894	0.543	0.544	0.767
hat	41578	0.337	0.338	0.467
tortuga	100000	0.954	0.961	1.328
galera	100000	0.871	0.910	1.249

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yumeng Yan, Yuan Zhang, Min Pang, Fengguang Xiong, Xiaowen Yang. Improved Point Cloud Guided Filtering Algorithm[J]. Laser & Optoelectronics Progress, 2023, 60(22): 2211006

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