We propose a probabilistic shape completion method extended to the continuous geometry of large-scale 3D scenes. Real-world scans of 3D scenes suffer from a considerable amount of missing data cluttered with unsegmented objects. The problem of shape completion is inherently ill-posed, and high-quality result requires scalable solutions that consider multiple possible outcomes. We employ the Generative Cellular Automata that learns the multi-modal distribution and transform the formulation to process large-scale continuous geometry. The local continuous shape is incrementally generated as a sparse voxel embedding, which contains the latent code for each occupied cell. We formally derive that our training objective for the sparse voxel embedding maximizes the variational lower bound of the complete shape distribution and therefore our progressive generation constitutes a valid generative model. Experiments show that our model successfully generates diverse plausible scenes faithful to the input, especially when the input suffers from a significant amount of missing data. We also demonstrate that our approach outperforms deterministic models even in less ambiguous cases with a small amount of missing data, which infers that probabilistic formulation is crucial for high-quality geometry completion on input scans exhibiting any levels of completeness.

该研究提出了一种面向大规模3D场景连续几何的概率形状完成方法，该方法利用生成细胞自动机学习多模态分布，通过稀疏体素嵌入渐进式生成连续形状，其训练目标最大化完整形状分布的变分下限，并通过实验证明了相比于确定性模型，该方法在几何完成方面的表现更佳。

概率隐式场景补全