MSaD-Net: A Mix Self-Attention Networks for 3D Point Cloud Denoising

In the process of acquiring 3D point cloud data, due to environmental interference or unstable scanning equipment, the acquired data often have noisy points. Recently, with the development of neural networks for point clouds, great progress has been made in deep learning-based point cloud denoising. However, most of the existing methods adopt a pointnet-like structure to predict point offsets. Simple pooling operation loses much important information, such as local neighborhood information, and global information. The loss of information makes the algorithm ineffective when dealing with some complex cases. In order to solve the above problems, we propose a self-attention-based point cloud denoising network architecture, through the Transformer structure, to establish long-range dependencies of the points. In addition, we propose a local information embedding module to fast select meaningful points and serve as the input of the Transformer. We also consider the correlation between channels of point cloud features and further introduce a channel attention module. Extensive experiments prove that our method outperforms existing methods, and maintains a high running speed.