NeRI: Implicit Neural Representation of LiDAR Point Cloud Using Range Image Sequence
Ruixiang Xue, Jiaxin Li, Tong Chen, Dandan Ding, Xun Cao, Zhan Ma
Abstract
This paper proposes the NeRI, an implicit neural representation (INR) based LiDAR point cloud compressor. In NeRI, we first transform a sequence of 3D LiDAR frames into a 2D range image sequence through range image projection over time. Then, we employ a neural network conditioned on the temporal frame index and associated LiDAR sensor pose to fit input range images as closely as possible. The optimized network parameters, which implicitly represent the input LiDAR data, are later lossily compressed. NeRI decoder is then initialized using decoded parameters to generate range images for reconstructing the 3D LiDAR sequence accordingly. Extensive experimental results demonstrate the significant superiority of NeRI regarding the compression efficiency and decoding speed compared to state-of-the-art 2D and 3D compressors for LiDAR point cloud.