In this paper, we introduce FastPoints, a state-of-the-art point cloud renderer for the Unity game development platform. Our program supports standard unprocessed point cloud formats with non-programmatic, drag-and-drop support, and creates an out-of-core data structure for large clouds without requiring an explicit preprocessing step; instead, the software renders a decimated point cloud immediately and constructs a shallow octree online, during which time the Unity editor remains fully interactive.
We present a modified M-estimation based method for fast global 3D point cloud registration which rapidly converges to an optimal solution while matching or exceeding the accuracy of existing global registration methods.The key idea of our work is to introduce weighted median based M-estimation for re-weighted least squares adeployed in a graduated fashion which takes into account the error distribution of the residuals to achieve rapid convergence to an optimal solution. The experimental results on synthetic and real data sets show the significantly improved convergence of our method with a comparable accuracy with respect to the state-of-the-art global registration methods.
The SC29/WG1 (JPEG) Committee within ISO/IEC is currently working on developing standards for the storage, compression and transmission of 3D point cloud information. To support the creation of these standards, the committee has created a database of 3D point clouds representing various quality levels and use-cases and examined a range of 2D and 3D objective quality measures. The examined quality measures are correlated with subjective judgments for a number of compression levels. In this paper we describe the database created, tests performed and key observations on the problems of 3D point cloud quality assessment.