CU-Net: Real-Time High-Fidelity Color Upsampling for Point Clouds

Abstract: Point cloud upsampling is essential for high-quality augmented reality, virtual reality, and telepresence applications, due to the capture, processing, and communication limitations of existing technologies. Although geometry upsampling to densify a point cloud's coordinates has been well studied, the upsampling of the color attributes has been largely overlooked. In this paper, we propose CU-Net, the first deep-learning point cloud color upsampling model that enables low latency and high visual fidelity operation. CU-Net achieves linear time and space complexity by leveraging a feature extractor based on sparse convolution and a color prediction module based on neural implicit function. Therefore, CU-Net is theoretically guaranteed to be more efficient than most existing methods with quadratic complexity. Experimental results demonstrate that CU-Net can colorize a photo-realistic point cloud with nearly a million points in real time, while having notably better visual performance than baselines. Besides, CU-Net can adapt to arbitrary upsampling ratios and unseen objects without retraining. Our source code is available at https://github.com/UMass-LIDS/cunet.