PointINet: Point Cloud Frame Interpolation Network

Fan Lu, Guang Chen, Sanqing Qu, Zhijun Li, Yinlong Liu, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

LiDAR point cloud streams are usually sparse in time dimension, which is limited by hardware performance. Generally, the frame rates of mechanical LiDAR sensors are 10 to 20 Hz, which is much lower than other commonly used sensors like cameras. To overcome the temporal limitations of LiDAR sensors, a novel task named Point Cloud Frame Interpolation is studied in this paper. Given two consecutive point cloud frames, Point Cloud Frame Interpolation aims to generate intermediate frame(s) between them. To achieve that, we propose a novel framework, namely Point Cloud Frame Interpolation Network (PointINet). Based on the proposed method, the low frame rate point cloud streams can be upsampled to higher frame rates. We start by estimating bi-directional 3D scene flow between the two point clouds and then warp them to the given time step based on the 3D scene flow. To fuse the two warped frames and generate intermediate point cloud(s), we propose a novel learning-based points fusion module, which simultaneously takes two warped point clouds into consideration. We design both quantitative and qualitative experiments to evaluate the performance of the point cloud frame interpolation method and extensive experiments on two large scale outdoor LiDAR datasets demonstrate the effectiveness of the proposed PointINet. Our code is available at https://github.com/ispc-lab/PointINet.git.

Original languageEnglish
Title of host publication35th AAAI Conference on Artificial Intelligence, AAAI 2021
PublisherAssociation for the Advancement of Artificial Intelligence
Pages2251-2259
Number of pages9
ISBN (Electronic)9781713835974
DOIs
StatePublished - 2021
Event35th AAAI Conference on Artificial Intelligence, AAAI 2021 - Virtual, Online
Duration: 2 Feb 20219 Feb 2021

Publication series

Name35th AAAI Conference on Artificial Intelligence, AAAI 2021
Volume3B

Conference

Conference35th AAAI Conference on Artificial Intelligence, AAAI 2021
CityVirtual, Online
Period2/02/219/02/21

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