Recent advances in depth measurement and its utilization have made point cloud processing more critical. Additionally, the human head is essential for communication, and its three-dimensional data are expected to be utilized in this regard. However, a single RGB-Depth (RGBD) camera is prone to occlusion and depth measurement failure for dark hair colors such as black hair. Recently, point cloud completion, where an entire point cloud is estimated and generated from a partial point cloud, has been studied, but only the shape is learned, rather than the completion of colored point clouds. Thus, this paper proposes a machine learning-based completion method for colored point clouds with XYZ location information and the International Commission on Illumination (CIE) LAB (L*a*b*) color information. The proposed method uses the color difference between point clouds based on the Chamfer Distance (CD) or Earth Mover's Distance (EMD) of point cloud shape evaluation as a color loss. In addition, an adversarial loss to L*a*b*-Depth images rendered from the output point cloud can improve the visual quality. The experiments examined networks trained using a colored point cloud dataset created by combining two 3D datasets: hairstyles and faces. Experimental results show that using the adversarial loss with the colored point cloud renderer in the proposed method improves the image domain's evaluation.
Keywords: colored point cloud; deep learning; point cloud completion.