WEIGHTED MULTI-PROJECTION: 3D POINT CLOUD DENOISING WITH TANGENT PLANES

We present a novel algorithm for 3D point cloud denoising called weighted multi-projection. As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy, which influences subsequent computations. Compared to many previous denoising works, instead of directly smoothing...