三维点云数据超分辨率技术

毕勇; 潘鸣奇; 张硕; 高伟男

doi:10.37188/CO.2021-0176

三维点云数据超分辨率技术

doi: 10.37188/CO.2021-0176

毕勇^1,,
潘鸣奇^{1, 2,},
张硕^1,,
高伟男^1, ,

1.
中国科学院理化技术研究所, 北京 100190
2.
中国科学院大学, 北京 100049

基金项目: 2020年北京市落实中央引导地方科技发展专项（No. Z20111000430000）

详细信息

作者简介:
毕勇（1973—），男，黑龙江哈尔滨人，中国科学院理化技术研究所研究员，博士生导师，2004年于中国科学院物理研究所获得博士学位，主要从事激光应用技术方面的研究工作。Email：biyong@mail.ipc.ac.cn

潘鸣奇（1996—），男，广东珠海人，中国科学院大学硕士研究生，2018年于哈尔滨工业大学获得学士学位，主要从事激光雷达三维重建方面的研究。E-mail:panmingqi19@mails.ucas.ac.cn

张硕（1993—），女，黑龙江哈尔滨人，中国科学院理化技术研究所博士后，2021年于中国科学院大学获得博士学位，主要从事激光雷达方面的研究工作。Email：zhangshuo@mail.ipc.ac.cn

高伟男（1983—），男，吉林白城人，中国科学院理化技术研究所高级工程师，2009年于吉林大学获博士学位，长期从事高功率激光、全色激光显示等激光技术与应用研究。E-mail:wngao@mail.ipc.ac.cn

中图分类号: TP391.4
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出版历程
- 收稿日期: 2021-10-08
- 修回日期: 2021-10-28
- 录用日期: 2021-12-20
- 网络出版日期: 2021-12-24
- 刊出日期: 2022-03-21

Overview of 3D point cloud super-resolution technology

BI Yong^1
,,
PAN Ming-qi^{1, 2
,},
ZHANG Shuo^1
,,
GAO Wei-nan^{1
, ,}

1.
Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China

Funds: Supported by Special Project of Central Government Guiding Local Scienceand Technology Development in Beijing 2020（No. Z20111000430000）

More Information

Corresponding author: wngao@mail.ipc.ac.cn

摘要

摘要: 随着机器视觉技术的发展，如何准确、高效地对真实世界进行精确记录与建模已成为热点问题。由于硬件条件的限制，通常采集到的点云数据分辨率较低，无法满足实际应用需求，因此有必要对点云数据超分辨率技术进行研究。本文介绍三维点云数据超分辨率技术的意义、进展及评价方法，并对经典超分辨率算法和基于机器学习的超分辨率算法分别进行梳理，总结了目前方法的特点，指出了目前点云数据超分辨率技术中存在的主要问题及面临的挑战，最后展望了点云数据超分辨率技术的发展方向。
- 点云数据 /
- 点云上采样 /
- 超分辨率 /
- 机器学习
Abstract: With the development of the computer vision technology, research on recording and modeling the real world accurately and efficiently has become a key issue. Due to the limitation of hardware, the resolution of a point cloud is usually low, which cannot meet the applications. Therefore, it is necessary to study the super-resolution technology of point clouds. In this paper, we sort out the significance, progress, and evaluation methods of 3D point cloud super-resolution technology, introduce the classical super-resolution algorithm and the super-resolution algorithm based on machine learning, summarize the characteristics of the current methods, and point out the main problems and challenges in current point cloud data super-resolution technology. Finally, the future direction in point cloud super-resolution technology is proposed.
- point cloud /
- point cloud up-sampling /
- super-resolution /
- machine learning

HTML全文

图 1 PU-Net的网络示意图^[39]

Figure 1. The architecture of PU-Net^[39]

下载: 全尺寸图片幻灯片

图 2 MPU上采样模型^[42]

Figure 2. Up-sampling model of MPU^[42]

下载: 全尺寸图片幻灯片

图 3 PU-GAN的网络示意图^[44]

Figure 3. The architecture of PU-GAN^[44]

下载: 全尺寸图片幻灯片

图 4 PU-GCN的网络示意图^[47]

Figure 4. The architecture of PU-GCN^[47]

下载: 全尺寸图片幻灯片

表 1 均方误差比较

Table 1. RMSE comparison

局部/全局	数据集与倍数	Art		Moebius		Books
局部/全局	数据集与倍数	4×	8×	4×	8×	4×	8×
基于局部信息	边缘特征引导的JBUF^[26]	1.08	1.93	−	−	−	−
基于局部信息	改进的双边滤波器^[27]	1.93	2.45	1.63	2.06	1.47	1.81
基于局部信息	具有噪声感知的双边滤波^[28]	2.90	4.75	1.55	2.28	1.36	1.94
基于局部信息	基于引导图像的滤波器^[29]	2.40	3.32	2.03	2.60	1.82	2.31
基于全局优化	二阶TGV^[30]	1.29	2.06	0.90	1.38	0.75	1.16
基于全局优化	二阶TGV+边缘指示函数^[31]	1.21	1.93	0.81	1.32	0.65	1.07
基于全局优化	MRF^[33]	2.24	3.85	2.29	3.09	2.08	2.85
基于全局优化	改进的MRF^[34]	1.00	1.50	−	−	−	−
基于全局优化	改进的MRF^[35]	1.82	2.78	1.49	2.13	1.43	1.98

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