RepKPU: Point Cloud Upsampling with Kernel Point Representation and Deformation

Yi Rong, Haoran Zhou, Kang Xia, Cheng Mei, Jiahao Wang, Tong Lu; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, pp. 21050-21060

In this work we present RepKPU an efficient network for point cloud upsampling. We propose to promote upsampling performance by exploiting better shape representation and point generation strategy. Inspired by KPConv we propose a novel representation called RepKPoints to effectively characterize the local geometry whose advantages over prior representations are as follows: (1) density-sensitive; (2) large receptive fields; (3) position-adaptive which makes RepKPoints a generalized form of previous representations. Moreover we propose a novel paradigm namely Kernel-to-Displacement generation for point generation where point cloud upsampling is reformulated as the deformation of kernel points. Specifically we propose KP-Queries which is a set of kernel points with predefined positions and learned features to serve as the initial state of upsampling. Using cross-attention mechanisms we achieve interactions between RepKPoints and KP-Queries and subsequently KP-Queries are converted to displacement features followed by a MLP to predict the new positions of KP-Queries which serve as the generated points. Extensive experimental results demonstrate that RepKPU outperforms state-of-the-art methods on several widely-used benchmark datasets with high efficiency.