NormNet: Point-wise normal estimation network for three-dimensional point cloud data. (4th July 2019)
- Record Type:
- Journal Article
- Title:
- NormNet: Point-wise normal estimation network for three-dimensional point cloud data. (4th July 2019)
- Main Title:
- NormNet: Point-wise normal estimation network for three-dimensional point cloud data
- Authors:
- Hyeon, Janghun
Lee, Weonsuk
Kim, Joo Hyung
Doh, Nakju - 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.
- Is Part Of:
- International journal of advanced robotic systems. Volume 16:Number 4(2019:Jul./Aug.)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 16:Number 4(2019:Jul./Aug.)
- Issue Display:
- Volume 16, Issue 4 (2019)
- Year:
- 2019
- Volume:
- 16
- Issue:
- 4
- Issue Sort Value:
- 2019-0016-0004-0000
- Page Start:
- Page End:
- Publication Date:
- 2019-07-04
- Subjects:
- Normal estimation -- 3-D deep learning -- 3-D sensor system -- 3-D indoor LiDAR data set -- robustness
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.1177/1729881419857532 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 11260.xml