A robust assessment method of point cloud quality for enhancing 3D robotic scanning

Point clouds are widely used to construct models of workpieces using 3D scanners, especially where high- quality robotic and automatic 3D scanning is required in industries and manufacturing. In recent years, Point Cloud Quality Assessment (PCQA) has garnered increasing attention as it provides quality scores for entire point clouds, addressing issues such as downsampling and compression distortions. However, current PCQA methods cannot provide specific and local quality scores, which are necessary to facilitate rescanning and recompletion in 3D robotic scanning. Additionally, 3D data produced by robotic view-planning algorithms are usually considered the final result, where PCQA is typically not involved. In this paper, we bridge the gap between PCQA methods and practical robotic 3D scanning. We propose a no-reference PCQA method that recognizes sparse regions during 3D scanning, providing both local and overall quality scores. Unlike traditional methods that primarily consider density as a key metric, our method assumes that an expected 3D scan will have a uniformly distributed point cloud on surfaces. We analyze the quality of points by using geometric information from surfaces fitted to these points, which are mapped to a 2D distribution based on specified distances and angles. We conducted experiments on various datasets, including both synthetic and public datasets, to evaluate the accuracy and robustness of our method. The results show that our method can represent the quality on surfaces more accurately and robustly than density calculation methods. Additionally, it outperforms most existing PCQA methods in scenarios of downsampling, which is a common challenge in high-quality 3D scanning applications. The performance of our quality enhancement experiments on practical 3D scanning, conducted towards the end of our study, demonstrates significant potential for real-world applications. The related code is released at https://github.com/leihui6/PCQA.