Segmentation and Reconstruction of 3D Models from a Point Cloud with Deep Neural Networks

Abstract

The need to model visual information with compact representations has existed since the early days of computer vision. We implemented in the past a segmentation and model recovery method for range images which is unfortunately too slow for current size of 3D point clouds and type of applications. Recently, neural networks have become the popular choice for quick and effective processing of visual data. In this article we demonstrate that with a convolutional neural network we could achieve comparable results, that is to determine and model all objects in a given 3D point cloud scene. We started off with a simple architecture that could predict the parameters of a single object in a scene. Then we expanded it with an architecture similar to Faster R-CNN, that could predict the parameters for any number of objects in a scene. The results of the initial neural network were satisfactory. The second network, that performed also segmentation, still gave decent results comparable to the original method, but compared to the initial one, performed somewhat worse. Results, however, are encouraging but further experiments are needed to build CNNs that will be able to replace the state-of-the-art method.