Construction of Local Height Maps Based on Spherical Coordinates

Point cloud denoising is crucial for 3D point clouds. This paper improves a multi-patch collaborative denoising method based on local frames, adopting a spherical coordinate method on the basis of the original rectangular coordinate system established for local frames. In the original local frames, this method performs spherical fitting for local neighborhood points, then projects the neighborhood points onto the sphere, with the position on the sphere serving as the height map’s position coordinates, and the distance from the sphere as the height map’s height coordinates.