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Adaptive Dual-Weighted Gravitational Point Cloud Denoising Method

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise points that degrade the accuracy of subsequent point cloud object detection and recognition. Moreover, existing point cloud denoising methods typically sacrifice computational efficiency in pursuit of higher denoising accuracy, or, conversely, improve processing speed at the expense of preserving object boundaries and fine structural details, making it difficult to simultaneously achieve high denoising accuracy, strong edge preservation, and real-time performance. To address these limitations, this paper proposes an adaptive dualweight gravitational-based point cloud denoising method. First, an octree is employed to perform spatial partitioning of the global point cloud, enabling parallel acceleration. Then, within each leaf node, adaptive voxel-based occupancy statistics and k-nearest neighbor (kNN) density estimation are applied to rapidly remove clearly isolated and low-density noise points, thereby reducing the effective candidate set. Finally, a gravitational scoring function that combines density weights with adaptive distance weights is constructed to finely distinguish noise points from object points. Experiments conducted on the Stanford 3D Scanning Repository, the Canadian Adverse Driving Conditions (CADC) dataset, and in-house RUBY PLUS LiDAR point clouds acquired in our laboratory demonstrate that, compared with existing methods, the proposed approach achieves consistent improvements in F1, PSNR, and Chamfer Distance (CD) across various noise conditions while reducing the single-frame processing time, thereby validating its high accuracy, robustness, and real-time performance in multi-noise scenarios.

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