Publications

Detailed Information

Scene-level Point Cloud Colorization with Semantics-and-geometry-aware Networks

Cited 0 time in Web of Science Cited 0 time in Scopus
Authors

Gao, Rongrong; Xiang, Tian-Zhu; Lei, Chenyang; Park, Jaesik; Chen, Qifeng

Issue Date
2023
Publisher
IEEE
Citation
Proceedings - IEEE International Conference on Robotics and Automation, Vol.2023-May, pp.2818-2824
Abstract
In robotic applications, we often obtain tons of 3D point cloud data without color information, and it is difficult to visualize point clouds in a meaningful and colorful way. Can we colorize 3D point clouds for better visualization? Existing deep learning-based colorization methods usually only take simple 3D objects as input, and their performance for complex scenes with multiple objects is limited. To this end, this paper proposes a novel semantics-and-geometry-aware colorization network, termed SGNet, for vivid scene-level point cloud colorization. Specifically, we propose a novel pipeline that explores geometric and semantic cues from point clouds containing only coordinates for color prediction. We also design two novel losses, including a colorfulness metric loss and a pairwise consistency loss, to constrain model training for genuine colorization. To the best of our knowledge, our work is the first to generate realistic colors for point clouds of large-scale indoor scenes. Extensive experiments on the widely used ScanNet benchmarks demonstrate that the proposed method achieves state-of-the-art performance on point cloud colorization.
ISSN
1050-4729
URI
https://hdl.handle.net/10371/201220
DOI
https://doi.org/10.1109/ICRA48891.2023.10161469
Files in This Item:
There are no files associated with this item.
Appears in Collections:

Related Researcher

  • College of Engineering
  • Dept. of Computer Science and Engineering
Research Area Computer Graphics, Computer Vision, Machine Learning, Robotics

Altmetrics

Item View & Download Count

  • mendeley

Items in S-Space are protected by copyright, with all rights reserved, unless otherwise indicated.

Share