Denoising Manifold and Non-Manifold Point Clouds

Ranjith Unnikrishnan and Martial Hebert
18th British Machine Vision Conference (BMVC), October, 2007.


Download
  • Adobe portable document format (pdf) (625KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
The faithful reconstruction of 3-D models from irregular and noisy point samples is a task central to many applications of computer vision and graphics. We present an approach to denoising that naturally handles intersections of manifolds, thus preserving high-frequency details without oversmoothing. This is accomplished through the use of a modified locally weighted regression algorithm that models a neighborhood of points as an implicit product of linear subspaces. By posing the problem as one of energy minimization subject to constraints on the coefficients of a higher order polynomial, we can also incorporate anisotropic error models appropriate for data acquired with a range sensor. We demonstrate the effectiveness of our approach through some preliminary results in denoising synthetic data in 2-D and 3-D domains.

Notes
Sponsor: Army Research Laboratory
Grant ID: DAAD19-01-209912
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics
Number of pages: 10

Text Reference
Ranjith Unnikrishnan and Martial Hebert, "Denoising Manifold and Non-Manifold Point Clouds," 18th British Machine Vision Conference (BMVC), October, 2007.

BibTeX Reference
@inproceedings{Unnikrishnan_2007_5833,
   author = "Ranjith Unnikrishnan and Martial Hebert",
   title = "Denoising Manifold and Non-Manifold Point Clouds",
   booktitle = "18th British Machine Vision Conference (BMVC)",
   month = "October",
   year = "2007",
}