Efficient Approximate Visibility of Point Sets on the GPU

The use of laser scanning techniques has become a common way to measure the real world. Millions of points could be generated by this system, which brings forth the problem of visualizing and eventually performing analyses on them. In the open source domain, various software packages exist to visualize 3D point clouds. However, most of these software packages do not allow the real-time rendering of large point clouds. Few of them also allow visualization in an immersive manner. The research aims to create an open source viewer for large 3D point clouds, which enables a dynamic and immersive visualization. In order to do so, rendering and point cloud management strategies must be implemented to avoid overloading the computer’s memory. The rendering is done using OpenGL engine by utilizing the graphic card’s memory in order to perform faster visualization. The program consists of a pre-processing stage in which the point cloud files are divided into quadtrees and then subsampled using the random tree sampling method. The visualization itself will calculate the distance between the point of view and the center of nodes generated by the pre-processing stage. The amount of points rendered within each node will depend on this distance; the farther away the node is from the point of view, the fewer points are rendered. A loading and unloading function enables the point cloud to be rendered dynamically. With the point cloud management algorithm implemented, the resulting program is able to load large point clouds generated by a mobile laser scanner using an ordinary computer. The resulting program as well as the source code will be available for the public due to its open source nature.

Topological Data Analysis is a machine learning method that summarizes the topological features of a space. Persistent Homology (PH) can identify these topological features as they persist within a point cloud; persisting in respect to the connectedness of the point cloud at increasing distances. The utility of PH is apparent in several fields including bioinformatics, network security, and object classification. However, the memory complexity of PH limits the application to relatively small point clouds for low-dimensional topological feature identification. For this reason, numerous approaches to optimize and approximate the PH have been introduced for providing results over large point clouds. One solution, Partitioned Persistent Homology (PPH), has shown favorable approximation on a single node with significant performance improvement. However, the single-node approach is limited by the available system memory, leading to the need for a distributed approach for additional (especially memory) resources. This paper studies a distributed version of PPH for use with large point clouds over a high-performance compute cluster. Experimental results of the distributed algorithm against previous studies is presented along with scalability of the distributed library.

In reverse engineering, the point cloud data processing is the key, it will directly affect the quality and efficiency of the subsequent reconstruction of the surface. However, the amount of data obtained by three-dimensional laser scanning is often larger and redundant, which will increase the difficulty of the surface reconstruction, therefore, the point cloud data is needed to streamline. Depth analysis of the efficiency and accuracy of curvature grid method, a secondary streamlined algorithm is proposed, which take use of non-uniform grid streamline law based on octree to streamline to the point cloud, and re-use curvature streamline method based on B-spline surface fitting to streamline it. This method, whose streamline ratio is relatively high, can effectively retain the feature point cloud data, providing a great convenience for the follow-up of reverse engineering.

Extracting roads from dense point clouds in large scale urban environment

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to point clouds that span a large area, e.g. those that are common in autonomous driving, with lidar or radar data. TransLPC is able to remedy these issues: The structure of the transformer model is modified to allow for larger input sequence lengths, which are sufficient for large point clouds. Besides this, we propose a novel query refinement technique to improve detection accuracy, while retaining a memory-friendly number of transformer decoder queries. The queries are repositioned between layers, moving them closer to the bounding box they are estimating, in an efficient manner. This simple technique has a significant effect on detection accuracy, which is evaluated on the challenging nuScenes dataset on real-world lidar data. Besides this, the proposed method is compatible with existing transformer-based solutions that require object detection, e.g. for joint multi-object tracking and detection, and enables them to be used in conjunction with large point clouds.

This paper presents a system that can automatically segment objects in large scale 3D point clouds obtained from urban ranging images. The system consists of three steps: The first one involves a ground detection process that can detect relatively complex terrain and separate it from other objects. The second step superpixelizes the remaining objects to speed up the segmentation process. In the final step, a manifold embedded mode seeking method is adopted to segment the point clouds. Even though the segmentation of urban objects is a challenging problem in terms of accuracy and problem scale, our system can efficiently generate very good segmentation results. The proposed manifold learning effectively improves the segmentation performance due to the fact that continuous artificial objects often have manifold-like structures.

Suppose a large and dense point cloud of an object with complex geometry is available that can be approximated by a smooth univariate function. In general, for such point clouds the “best” approximation using the method of least squares is usually hard or sometimes even impossible to compute. In most cases, however, a “near-best” approximation is just as good as the “best”, but usually much easier and faster to calculate. Therefore, a fast approach for the approximation of point clouds using Chebyshev polynomials is described, which is based on an interpolation in the Chebyshev points of the second kind. This allows to calculate the unknown coefficients of the polynomial by means of the Fast Fourier transform (FFT), which can be extremely efficient, especially for high-order polynomials. Thus, the focus of the presented approach is not on sparse point clouds or point clouds which can be approximated by functions with few parameters, but rather on large dense point clouds for whose approximation perhaps even millions of unknown coefficients have to be determined.

With the increase of point cloud scale, the time required by traditional ICP-related point cloud registration methods increases dramatically, which cannot meet the registration requirements of large-scale point clouds. In this paper, a fast registration technique for large scale point clouds based on virtual viewpoint image generation is studied. Firstly, the projection image of color point cloud is generated by virtual viewpoint. Then, the feature is extracted based on ORB and the rotation and translation matrix is calculated. The experimental results show that the registration time of the proposed method is about 1s when the size of the point cloud is from 300,000 to 2 million, which is improved by 17–258 times compared with the traditional ICP registration method, and the registration error is reduced by 80% from ICP 5.0 to 1.0. This paper provides a new idea and method for large-scale color point cloud registration.

Accurate semantic segmentation of 3D point clouds is a long-standing problem in remote sensing and computer vision. Due to the unstructured nature of point clouds, designing deep neural architectures for point cloud semantic segmentation is often not straightforward. In this work, we circumvent this problem by devising a technique to exploit structured neural architectures for unstructured data. In particular, we employ the popular convolutional neural network (CNN) architectures to perform semantic segmentation of LiDAR data. We propose a projection-based scheme that performs an angle-wise slicing of large 3D point clouds and transforms those slices into 2D grids. Accounting for intensity and reflectivity of the LiDAR input, the 2D grid allows us to construct a pseudo image for the point cloud slice. We enhance this image with low-level image processing techniques of normalization, histogram equalization, and decorrelation stretch to suit our ultimate object of semantic segmentation. A large number of images thus generated are used to induce an encoder-decoder CNN model that learns to compute a segmented 2D projection of the scene, which we finally back project to the 3D point cloud. In addition to a novel method, this article also makes a second major contribution of introducing the enhanced version of our large-scale public PC-Urban outdoor dataset which is captured in a civic setup with an Ouster LiDAR sensor. The updated dataset (PC-Urban_V2) provides nearly 8 billion points including over 100 million points labeled for 25 classes of interest. We provide a thorough evaluation of our technique on PC-Urban_V2 and three other public datasets.

We propose a novel deep architecture for semantic labeling of 3D point clouds referred to as Global and Local Streams Network (GLSNet) which is designed to capture both global and local structures and contextual information for large scale 3D point cloud classification. Our GLSNet tackles a hard problem - large differences of object sizes in large-scale point cloud segmentation including extremely large objects like water, and small objects like buildings and trees, and we design a two-branch deep network architecture to decompose the complex problem to separate processing problems at global and local scales and then fuse their predictions. GLSNet combines the strength of Submanifold Sparse Convolutional Network [1] for learning global structure with the strength of PointNet++ [2] for incorporating local information. The first branch of GLSNet processes a full point cloud in the global stream, and it captures long range information about the geometric structure by using a U-Net structured Submanifold Sparse Convolutional Network (SSCN-U) architecture. The second branch of GLSNet processes a point cloud in the local stream, and it partitions 3D points into slices and processes one slice of the cloud at a time by using the PointNet ++ architecture. The two streams of information are fused by max pooling over their classification prediction vectors. Our results on the IEEE GRSS Data Fusion Contest Urban Semantic 3D, Track 4 (DFT4) [3] [4] [5] point cloud classification dataset have shown that GLSNet achieved performance gains of almost 4% in mIOU and 1% in overall accuracy over the individual streams on the held-back testing dataset.

Inspired by recent improvements in point cloud processing for autonomous navigation, we focus on using hierarchical graph neural networks for processing and feature learning over large-scale outdoor LiDAR point clouds. We observe that existing GNN based methods fail to overcome challenges of scale and irregularity of points in outdoor datasets. Addressing the need to preserve structural details while learning over a larger volume efficiently, we propose Hierarchical Point Graph Neural Network (HPGNN). It learns node features at various levels of graph coarseness to extract information. This enables to learn over a large point cloud while retaining fine details that existing point-level graph networks struggle to achieve. Connections between multiple levels enable a point to learn features in multiple scales, in a few iterations. We design HPGNN as a purely GNN-based approach, so that it offers modular expandability as seen with other point-based and Graph network baselines. To illustrate the improved processing capability, we compare previous point based and GNN models for semantic segmentation with our HPGNN, achieving a significant improvement for GNNs (+36.7 mIoU) on the SemanticKITTI dataset.

Abstract. Recently, with the progress of laser scanning technology, it has become possible to scan several environments such as buildings, roads, and cities easily and at a low cost. There are typically three scanning methods: TLS (Terrestrial Laser Scanning), MMS (Mobile Mapping System), and ALS (Airborne Laser Scanning), and the environments are scanned for measurement, modelling, and simulation etc. Therefore, an efficient and comprehensive data management method, which can handle these point clouds in various applications is strongly required. In this paper, we describe a method of data management for efficient search and rendering of multiple large scale point clouds. First, we define a general point cloud file format including the octree and the quantization structure. Next, the data management method enabling an efficient search and rendering of the point clouds is proposed. Finally, the effectiveness of our method is verified using several actual data sets.

In this article, we present a novel, multi-user, virtual reality environment for the interactive, collaborative 3D analysis of large 3D scans and the technical advancements that were necessary to build it: a multi-view rendering system for large 3D point clouds, a suitable display infrastructure, and a suite of collaborative 3D interaction techniques. The cultural heritage site of Valcamonica in Italy with its large collection of prehistoric rock-art served as an exemplary use case for evaluation. The results show that our output-sensitive level-of-detail rendering system is capable of visualizing a 3D dataset with an aggregate size of more than 14 billion points at interactive frame rates. The system design in this exemplar application results from close exchange with a small group of potential users: archaeologists with expertise in rockart. The system allows them to explore the prehistoric art and its spatial context with highly realistic appearance. A set of dedicated interaction techniques was developed to facilitate collaborative visual analysis. A multi-display workspace supports the immediate comparison of geographically distributed artifacts. An expert review of the final demonstrator confirmed the potential for added value in rock-art research and the usability of our collaborative interaction techniques.

This paper presents an integrated framework for surface reconstruction capable of handling large scale clouds of points. This framework is based on two proposed methods for implicit surface fitting and polygonization to convert a cloud of unorganized points into an optimized surface. The proposed fitting method employs the partition of unity (POU) method associated with the radial basis functions (RBF) over a distributed computing environment to facilitate and speedup fitting of large scale clouds without any data reduction to preserve all the surface details. Moreover, an innovative adaptive mesh refinement (AMR) based method is proposed for implicit surface polygonization. This method steers adaptive volume sampling via a series of optimization criteria to provide accurate and optimized surfaces with minimum number of polygons. The experimental results for the considered test models showed an average reduction of 60% in fitting time using 16 processing nodes and 90% in polygonization time on the master node only against other traditional methods with better performance.

Terrestrial laser scanning (TLS) is an important part of urban reconstruction and terrain surveying. In TLS applications, 4-point congruent set (4PCS) technology is widely used for the global registration of point clouds. However, TLS point clouds usually enjoy enormous data and uneven density. Obtaining the congruent set of tuples in a large point cloud scene can be challenging. To address this concern, we propose a registration method based on the voxel grid of the point cloud in this paper. First, we establish a voxel grid structure and index structure for the point cloud and eliminate uneven point cloud density. Then, based on the point cloud distribution in the voxel grid, keypoints are calculated to represent the entire point cloud. Fast query of voxel grids is used to restrict the selection of calculation points and filter out 4-point tuples on the same surface to reduce ambiguity in building registration. Finally, the voxel grid is used in our proposed approach to perform random queries of the array. Using different indoor and outdoor data to compare our proposed approach with other 4-point congruent set methods, according to the experimental results, in terms of registration efficiency, the proposed method is more than 50% higher than K4PCS and 78% higher than Super4PCS.