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

摘要

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.