arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2403.05047cs.CV
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REPS: 基于重建的点云采样

REPS: Reconstruction-based Point Cloud Sampling

Harbin Institute of Technology(哈尔滨工业大学)

Guoqing Zhang, Wenbo Zhao, Jian Liu, Xianming Liu

AI总结:

针对现有深度点云下采样方法易出现聚类效应、丢失小尺度结构的问题,提出基于重建的评分策略REPS及GLFA模块,通过多尺度重建评估点重要性,在结构保留和多任务性能上优于现有方法。

摘要:

采样因能有效降低资源消耗,被广泛应用于各类点云任务中。近年来,已有研究提出利用神经网络针对不同任务需求优化采样过程。目前,深度下采样方法主要可分为两类:基于生成的方法与基于分数的方法。基于生成的方法通过网络直接生成采样后的点云,而基于分数的方法则依据特定规则评估点的重要性,再根据分数选取采样点云。然而,这类方法往往会在高特征强度区域产生明显的聚类效应,削弱了其保留小尺度特征的能力,还会导致部分结构丢失,进而影响后续任务的性能。本文提出REPS,一种基于重建的评分策略,该策略通过移除每个顶点并利用周围顶点对其进行重建,以此评估每个顶点的重要性。我们的重建过程包含点重建和形状重建两个部分。上述两种重建方法通过在不同尺度下移除顶点并进行重建,可有效评估顶点的重要性。这些重建操作确保我们的方法能够保留点云的整体几何特征,同时避免在采样过程中破坏小尺度结构。此外,我们还提出了全局-局部融合注意力(Global-Local Fusion Attention, GLFA)模块,该模块聚合点云的局部与全局注意力特征,保障了高质量的重建与采样效果。我们的方法在保留采样点云结构特征方面优于现有方法。大量实验结果表明,我们的方法在各类常见任务中均表现出更优的性能。

英文摘要:

Sampling is widely used in various point cloud tasks as it can effectively reduce resource consumption. Recently, some methods have proposed utilizing neural networks to optimize the sampling process for various task requirements. Currently, deep downsampling methods can be categorized into two main types: generative-based and score-based. Generative-based methods directly generate sampled point clouds using networks, whereas score-based methods assess the importance of points according to specific rules and then select sampled point clouds based on their scores. However, these methods often result in noticeable clustering effects in high-intensity feature areas, compromising their ability to preserve small-scale features and leading to the loss of some structures, thereby affecting the performance of subsequent tasks. In this paper, we propose REPS, a reconstruction-based scoring strategy that evaluates the importance of each vertex by removing and reconstructing them using surrounding vertices. Our reconstruction process comprises point reconstruction and shape reconstruction. The two aforementioned reconstruction methods effectively evaluate the importance of vertices by removing them at different scales for reconstruction. These reconstructions ensure that our method maintains the overall geometric features of the point cloud and avoids disturbing small-scale structures during sampling. Additionally, we propose the Global-Local Fusion Attention (GLFA) module, which aggregates local and global attention features of point clouds, ensuring high-quality reconstruction and sampling effects. Our method outperforms previous approaches in preserving the structural features of the sampled point clouds. Furthermore, abundant experimental results demonstrate the superior performance of our method across various common tasks.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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