NormNet: Point-wise normal estimation network for three-dimensional point cloud data

Janghun Hyeon, Weonsuk Lee, Joo Hyung Kim, Nakju Doh

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this article, a point-wise normal estimation network for three-dimensional point cloud data called NormNet is proposed. We propose the multiscale K-nearest neighbor convolution module for strengthened local feature extraction. With the multiscale K-nearest neighbor convolution module and PointNet-like architecture, we achieved a hybrid of three features: a global feature, a semantic feature from the segmentation network, and a local feature from the multiscale K-nearest neighbor convolution module. Those features, by mutually supporting each other, not only increase the normal estimation performance but also enable the estimation to be robust under severe noise perturbations or point deficiencies. The performance was validated in three different data sets: Synthetic CAD data (ModelNet), RGB-D sensor-based real 3D PCD (S3DIS), and LiDAR sensor-based real 3D PCD that we built and shared.

Original languageEnglish
JournalInternational Journal of Advanced Robotic Systems
Volume16
Issue number4
DOIs
Publication statusPublished - 2019 Jul 1

Keywords

  • 3-D deep learning
  • 3-D indoor LiDAR data set
  • 3-D sensor system
  • Normal estimation
  • robustness

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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