We consolidate an unorganized point cloud with noise, outliers, non-uniformities, and in particular interference between close-by surface sheets as a preprocess to surface generation, focusing on reliable normal estimation. Our algorithm includes two new developments. First, a weighted locally optimal projection operator produces a set of denoised, outlier-free and evenly distributed particles over the original dense point cloud, so as to improve the reliability of local PCA for initial estimate of normals. Next, an iterative framework for robust normal estimation is introduced, where a priority-driven normal propagation scheme based on a new priority measure and an orientation-aware PCA work complementarily and iteratively to consolidate particle normals. The priority setting is reinforced with front stopping at thin surface features and normal flipping to enable robust handling of the close-by surface sheet problem. We demonstrate how a point cloud that is wellconsolidated by our method steers conventional surface generation schemes towards a proper interpretation of the input data.

Points acquired by laser scanners are not intrinsically equipped with normals, which are essential to surface reconstruction and point set rendering using surfels. Normal estimation is notoriously sensitive to noise. Near sharp features, the computation of noise-free normals becomes even more challenging due to the inherent undersampling problem at edge singularities. As a result, common edge-aware consolidation techniques such as bilateral smoothing may still produce erroneous normals near the edges. We propose a resampling approach to process a noisy and possibly outlier-ridden point set in an edge-aware manner. Our key idea is to first resample away from the edges so that reliable normals can be computed at the samples, and then based on reliable data, we progressively resample the point set while approaching the edge singularities. We demonstrate that our Edge-Aware Resampling (EAR) algorithm is capable of producing consolidated point This work is supported in part by grants from NSFC (61103166),

We introduce L1-medial skeleton as a curve skeleton representation for 3D point cloud data. The L1-median is well-known as a robust global center of an arbitrary set of points. We make the key observation that adapting L1-medians locally to a point set representing a 3D shape gives rise to a one-dimensional structure, which can be seen as a localized center of the shape. The primary advantage of our approach is that it does not place strong requirements on the quality of the input point cloud nor on the geometry or topology of the captured shape. We develop a L1-medial skeleton construction algorithm, which can be directly applied to an unoriented raw point scan with significant noise, outliers, and large areas of missing data. We demonstrate L1-medial skeletons extracted from raw scans of a variety of shapes, including those modeling high-genus 3D objects, plant-like structures, and curve networks.

Figure 1: We develop a deep neural network for 3D point set upsampling. Intuitively, our network learns different levels of detail in multiple steps, where each step focuses on a local patch from the output of the previous step. By progressively training our patch-based network end-to-end, we successfully upsample a sparse set of input points, step by step, to a dense point set with rich geometric details. Here we use circle plates for points rendering, which are color-coded by point normals. AbstractWe present a detail-driven deep neural network for point set upsampling. A high-resolution point set is essential for point-based rendering and surface reconstruction. Inspired by the recent success of neural image super-resolution techniques, we progressively train a cascade of patch-based upsampling networks on different levels of detail end-to-end. We propose a series of architectural design contributions that lead to a substantial performance boost. The effect of each technical contribution is demonstrated in an ablation study. Qualitative and quantitative experiments show that our method significantly outperforms the state-of-theart learning-based [58,59], and optimazation-based [23] approaches, both in terms of handling low-resolution inputs and revealing high-fidelity details. The data and code are at https://github.com/yifita/3pu.

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The real world exhibits an abundance of non-stationary textures. Examples include textures with large scale structures, as well as spatially variant and inhomogeneous textures. While existing example-based texture synthesis methods can cope well with stationary textures, non-stationary textures still pose a considerable challenge, which remains unresolved. In this paper, we propose a new approach for example-based non-stationary texture synthesis. Our approach uses a generative adversarial network (GAN), trained to double the spatial extent of texture blocks extracted from a specific texture exemplar. Once trained, the fully convolutional generator is able to expand the size of the entire exemplar, as well as of any of its sub-blocks. We demonstrate that this conceptually simple approach is highly effective for capturing large scale structures, as well as other non-stationary attributes of the input exemplar. As a result, it can cope with challenging textures, which, to our knowledge, no other existing method can handle.

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We introduce a generative model for 3D man-made shapes. The presented method takes a global-to-local (G2L) approach. An adversarial network (GAN) is built first to construct the overall structure of the shape, segmented and labeled into parts. A novel conditional auto-encoder (AE) is then augmented to act as a part-level refiner. The GAN, associated with additional local discriminators and quality losses, synthesizes a voxel-based model, and assigns the voxels with part labels that are represented in separate channels. The AE is trained to amend the initial synthesis of the parts, yielding more plausible part geometries. We also introduce new means to measure and evaluate the performance of an adversarial generative model. We demonstrate that our global-to-local generative model produces significantly better results than a plain three-dimensional GAN, in terms of both their shape variety and the distribution with respect to the training data.