论文标题

聚光灯:从球形角度探测形状

Spotlights: Probing Shapes from Spherical Viewpoints

论文作者

Wei, Jiaxin, Liu, Lige, Cheng, Ran, Jiang, Wenqing, Xu, Minghao, Jiang, Xinyu, Sun, Tao, Schwertfeger, Soren, Kneip, Laurent

论文摘要

近年来,目睹了直接建立在点云上的学识渊博的代表。尽管变得越来越表现力,但大多数现有的表示仍然很难产生有序的点集。受到球形多视图扫描仪的启发,我们提出了一种称为Spotlights的新型采样模型,以代表3D形状作为深度值的紧凑型1D阵列。它模拟了在球体上均匀分布的摄像机的配置,在该球体上,每个虚拟摄像头都通过小同心球形盖上的样品点施放光线,以探测可能与球体包围的物体的相交。因此,结构化点云被隐式地作为深度的函数。我们提供了该新的抽样方案的详细几何分析,并在点云完成任务的背景下证明了其有效性。合成数据和真实数据的实验结果表明,我们的方法可以达到竞争精度和一致性,同时显着降低了计算成本。此外,我们在下游点云注册任务上显示出优于最新完成方法的性能。

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by spherical multi-view scanners, we propose a novel sampling model called Spotlights to represent a 3D shape as a compact 1D array of depth values. It simulates the configuration of cameras evenly distributed on a sphere, where each virtual camera casts light rays from its principal point through sample points on a small concentric spherical cap to probe for the possible intersections with the object surrounded by the sphere. The structured point cloud is hence given implicitly as a function of depths. We provide a detailed geometric analysis of this new sampling scheme and prove its effectiveness in the context of the point cloud completion task. Experimental results on both synthetic and real data demonstrate that our method achieves competitive accuracy and consistency while having a significantly reduced computational cost. Furthermore, we show superior performance on the downstream point cloud registration task over state-of-the-art completion methods.

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