论文标题
形状完成,阴影中的点
Shape Completion with Points in the Shadow
论文作者
论文摘要
单视点云完成旨在仅基于有限的观察结果来恢复对象的完整几何形状,这由于数据稀疏性和遮挡而非常困难。核心挑战是生成合理的几何形状,以基于部分扫描的局部扫描填充对象的未观察到的部分,该部分受限制不足,并且具有巨大的解决方案空间。受计算机图形中经典影子卷技术的启发,我们提出了一种有效减少解决方案空间的新方法。我们的方法将摄像机视为向物体投射射线的光源。这样的光线建立了一个合理的约束但表现得很充分的基础。然后将完成过程作为点位移优化问题进行配制。点在部分扫描处初始化,然后将每个点的两种运动类型移至目标位置:沿光线沿光线的方向运动和限制局部运动以进行形状细化。我们设计神经网络,以预测理想点运动以获得完成结果。我们证明,通过详尽的评估和比较,我们的方法是准确,鲁棒和可推广的。此外,在MVP数据集上,它在定性和定量上都优于最先进的方法。
Single-view point cloud completion aims to recover the full geometry of an object based on only limited observation, which is extremely hard due to the data sparsity and occlusion. The core challenge is to generate plausible geometries to fill the unobserved part of the object based on a partial scan, which is under-constrained and suffers from a huge solution space. Inspired by the classic shadow volume technique in computer graphics, we propose a new method to reduce the solution space effectively. Our method considers the camera a light source that casts rays toward the object. Such light rays build a reasonably constrained but sufficiently expressive basis for completion. The completion process is then formulated as a point displacement optimization problem. Points are initialized at the partial scan and then moved to their goal locations with two types of movements for each point: directional movements along the light rays and constrained local movement for shape refinement. We design neural networks to predict the ideal point movements to get the completion results. We demonstrate that our method is accurate, robust, and generalizable through exhaustive evaluation and comparison. Moreover, it outperforms state-of-the-art methods qualitatively and quantitatively on MVP datasets.