Progressive Point Cloud Denoising with Cross-Stage Cross-Coder Adaptive Edge Graph Convolution Network

摘要

Due to the limitation of collection device and unstable scanning process, point cloud data is usually noisy. This noise deforms the underlying structures of point clouds and inevitably affects downstream tasks such as rendering, reconstruction and classification. In this paper, we propose a Cross-stage Cross-coder Adaptive Edge Graph Convolution Network (C2AENet) to denoise point clouds. Our network uses multiple stages to progressively and iteratively denoise points. To improve the effectiveness, we add connections between two stages and between the encoder and decoder, leading to the cross-stage cross-coder architecture. Additionally, existing graph-based point cloud learning methods tend to capture the local structure. They typically construct a semantic graph based on semantic distance, which may ignore Euclidean neighbors and lead to insufficient geometry perception. Therefore, we introduce a geometric graph and adaptively calculate edge attention based on the local and global structural information of the points. This results in a novel graph convolution module that allows the network to capture richer contextual information and focus on more important parts. Extensive experiments demonstrate that the proposed method is competitive compared with other state-of-the-art methods. The code is available at: https://github.com/chenwuwq/C2AENet.