From Noise Addition to Denoising: A Self-Variation Capture Network for Point Cloud Optimization.

Abstract

Point clouds obtained from 3D scanners are often noisy and cannot be directly used for subsequent high-level tasks. In this paper, we propose a novel point cloud optimization method capable of denoising and homogenizing point clouds. Our idea is based on the assumption that the noise is generally much smaller than the effective signal. We perform noise perturbation on the noisy point cloud to get a new noisy point cloud, called self-variation point cloud. The noisy point cloud and self-variation point cloud have different noise distribution, but the same point cloud distribution. We compute the potential commonality between two noisy point clouds to obtain a clean point cloud. To implement our idea, we propose a Self-Variation Capture Network (SVCNet). We perturb the point cloud features in the latent space to obtain self-variation feature vectors, and capture the commonality between two noisy feature vectors through the feature aggregation and averaging. In addition, an edge constraint module is introduced to suppress low-pass effects during denoising. Our denoising method does not take into account the noise characteristics, and can filter the drift noise located on the underlying surface, resulting in a uniform distribution of the generated point cloud. The experimental results show that our algorithm outperforms the current state-of-the-art algorithms, especially in generating more uniform point clouds. In addition, extended experiments demonstrate the potential of our algorithm for point clouds upsampling.