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Abstract
Due to the cost and accuracy of current point cloud sampling equipment, the obtained point color information is often corrupted by various noises. Existing point cloud denoising algorithms mainly focus on smoothness priors and convex optimization. Their performances highly depend on model parameters whose values are determined manually and fixed throughout the iterations. In this paper, we propose to unfold gradient graph regularization with deep neural networks for point cloud color denoising. It improves the robustness of the model for denoising in different kinds of datasets and across domains. Specifically, our approach first uses a point cloud extraction network to obtain effective features for gradient computation. Then, we construct a gradient graph Laplacian regularization (GGLR) as signal smoothness prior to point cloud restoration. Finally, we introduce shallow neural networks for model parameter estimation to unfold GGLR. The proposed point cloud denoising framework is fully differentiable and can be trained end-to-end. Experiments show that the proposed algorithm unfolding outperforms several existing point cloud color denoising techniques.
The work was supported in part by the National Natural Science Foundation of China (61771141) and the Natural Science Foundation of Fujian Province (2021J01620).
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Authors and Affiliations
College of Computer and Data Science, Fuzhou University, Fuzhou, 350108, China
Hongtao Wang, Fei Chen & Wanling Liu
College of Intelligence and Computing, Tianjin University, Tianjin, 300350, China
Wanling Liu
School of Mathematics and Statistics, Fuzhou University, Fuzhou, 350108, China
Xunxun Zeng
- Hongtao Wang
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Peking University, Beijing, China
Zhouchen Lin
Nankai University, Tianjin, China
Ming-Ming Cheng
Chinese Academy of Sciences, Beijing, China
Ran He
Xinjiang University, Ürümqi, Xinjiang, China
Kurban Ubul
Xinjiang University, Ürümqi, China
Wushouer Silamu
Peking University, Beijing, China
Hongbin Zha
Tsinghua University, Beijing, China
Jie Zhou
Chinese Academy of Sciences, Beijing, China
Cheng-Lin Liu
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Wang, H., Chen, F., Liu, W., Zeng, X. (2025). Unfolding Gradient Graph Regularization for Point Cloud Color Denoising. In: Lin, Z.,et al. Pattern Recognition and Computer Vision. PRCV 2024. Lecture Notes in Computer Science, vol 15036. Springer, Singapore. https://doi.org/10.1007/978-981-97-8508-7_39
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