{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T14:43:03Z","timestamp":1775745783897,"version":"3.50.1"},"reference-count":38,"publisher":"ASME International","issue":"5","license":[{"start":{"date-parts":[[2023,12,15]],"date-time":"2023-12-15T00:00:00Z","timestamp":1702598400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.asme.org\/publications-submissions\/publishing-information\/legal-policies"}],"content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,5,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Point cloud 3D models are gaining increasing popularity due to the proliferation of scanning systems in various fields, including autonomous vehicles and robotics. When employed for rendering purposes, point clouds are typically depicted with their original colors acquired during the acquisition, often without taking into account the lighting conditions of the scene in which the model is situated. This can result in a lack of realism in numerous contexts, especially when dealing with animated point clouds used in eXtended reality applications, where it is desirable for the model to respond to incoming light and seamlessly blend with the surrounding environment. This paper proposes the application of physically based rendering (PBR), a rendering technique widely used in real-time computer graphics applications, to animated point cloud models for reproducing specular reflections, and achieving a photo-realistic and physically accurate look under any lighting condition. To achieve this, we first explore the extension of commonly used animated point cloud formats to incorporate normal vectors and PBR parameters, like roughness and metalness. Additionally, the encoding of the animated environment maps necessary for the PBR technique is investigated. Then, an animated point cloud model is rendered with a shader implementing the proposed PBR method. Finally, we compare the outcomes of this PBR pipeline with traditional renderings of the same point cloud produced using commonly used shaders, taking into account different lighting conditions and environments. Through these comparisons, we demonstrate how the proposed PBR method enhances the visual integration of the point cloud with its surroundings. Furthermore, it will be shown that using this rendering technique, it is possible to render different materials, by exploiting the features of PBR and the encoding of the surrounding environment.<\/jats:p>","DOI":"10.1115\/1.4063559","type":"journal-article","created":{"date-parts":[[2023,9,28]],"date-time":"2023-09-28T06:32:33Z","timestamp":1695882753000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":3,"title":["Physically Based Rendering of Animated Point Clouds for EXtended Reality"],"prefix":"10.1115","volume":"24","author":[{"given":"Marco","family":"Rossoni","sequence":"first","affiliation":[{"name":"Politecnico di Milano Department of Mechanical Engineering, , Via La Masa 1, 20156 Milano , Italy"}]},{"given":"Matteo","family":"Pozzi","sequence":"additional","affiliation":[{"name":"Politecnico di Milano Department of Electronics, Information and Bioengineering, , Via Giuseppe Ponzio 34, 20133 Milano , Italy"}]},{"given":"Giorgio","family":"Colombo","sequence":"additional","affiliation":[{"name":"Politecnico di Milano Department of Mechanical Engineering, , Via La Masa 1, 20156 Milano , Italy"}]},{"given":"Marco","family":"Gribaudo","sequence":"additional","affiliation":[{"name":"Politecnico di Milano Department of Electronics, Information and Bioengineering, , Via Giuseppe Ponzio 34, 20133 Milano , Italy"}]},{"given":"Pietro","family":"Piazzolla","sequence":"additional","affiliation":[{"name":"Politecnico di Milano Department of Mechanical Engineering, , Via La Masa 1, 20156 Milano , Italy"}]}],"member":"33","published-online":{"date-parts":[[2023,12,15]]},"reference":[{"key":"2023121604104308200_CIT0001","doi-asserted-by":"publisher","first-page":"4049","DOI":"10.1109\/TMM.2020.3037481","article-title":"Point Cloud Rendering After Coding: Impacts on Subjective and Objective Quality","volume":"23","author":"Javaheri","year":"2021","journal-title":"IEEE Trans. Multimedia"},{"key":"2023121604104308200_CIT0002","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1016\/j.image.2017.05.009","article-title":"A Review of Algorithms for Filtering the 3D Point Cloud","volume":"57","author":"Han","year":"2017","journal-title":"Signal Process. Image Commun."},{"key":"2023121604104308200_CIT0003","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.4062970","article-title":"The Design of a Virtual Prototyping System for Authoring Interactive VR Environments From Real World Scans","author":"Ipsita","year":"2023","journal-title":"ASME J. Comput. Inf. Sci. Eng."},{"key":"2023121604104308200_CIT0004","doi-asserted-by":"publisher","first-page":"13151","DOI":"10.1109\/ACCESS.2022.3146768","article-title":"Real-Time Rendering of Point Clouds With Photorealistic Effects: A Survey","volume":"10","author":"Kivi","year":"2022","journal-title":"IEEE Access"},{"key":"2023121604104308200_CIT0005","volume-title":"Physically Based Rendering: From Theory to Implementation","author":"Pharr","year":"2023","edition":"4th"},{"key":"2023121604104308200_CIT0006","article-title":"Physically Based Shading in Theory and Practice","author":"McAuley","year":"2020"},{"key":"2023121604104308200_CIT0007","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/978-3-030-41816-8","volume-title":"Real VR\u2014Immersive Digital Reality","author":"Magnor","year":"2020"},{"issue":"1","key":"2023121604104308200_CIT0008","doi-asserted-by":"publisher","first-page":"301","DOI":"10.1111\/cgf.12802","article-title":"A Survey of Surface Reconstruction From Point Clouds","volume":"36","author":"Berger","year":"2016","journal-title":"Comput. Graph. Forum"},{"issue":"1","key":"2023121604104308200_CIT0009","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1109\/JETCAS.2018.2885981","article-title":"Emerging MPEG Standards for Point Cloud Compression","volume":"9","author":"Schwarz","year":"2019","journal-title":"IEEE J. Emerg. Sel. Topics Circ. Syst."},{"key":"2023121604104308200_CIT0010","doi-asserted-by":"publisher","first-page":"171203","DOI":"10.1109\/ACCESS.2020.3024633","article-title":"Visual Quality of Compressed Mesh and Point Cloud Sequences","volume":"8","author":"Cao","year":"2020","journal-title":"IEEE Access"},{"issue":"5","key":"2023121604104308200_CIT0011","first-page":"6","article-title":"Point-Based Approximate Color Bleeding","volume":"2","author":"Christensen","year":"2008","journal-title":"Pixar Tech. Notes"},{"issue":"2","key":"2023121604104308200_CIT0012","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1111\/cgf.12591","article-title":"Photorealistic Rendering of Mixed Reality Scenes","volume":"34","author":"Kronander","year":"2015","journal-title":"Comput. Graph. Forum"},{"key":"2023121604104308200_CIT0013","doi-asserted-by":"crossref","DOI":"10.1145\/1185657.1185686","article-title":"Image-Based Lighting","author":"Debevec","year":"2006"},{"issue":"6","key":"2023121604104308200_CIT0014","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3414685.3417821","article-title":"Light Stage Super-Resolution","volume":"39","author":"Sun","year":"2020","journal-title":"ACM Trans. Graph."},{"issue":"1","key":"2023121604104308200_CIT0015","doi-asserted-by":"publisher","first-page":"E13","DOI":"10.1017\/ATSIP.2020.12","article-title":"An Overview of Ongoing Point Cloud Compression Standardization Activities: Video-Based (v-PCC) and Geometry-Based (g-PCC)","volume":"9","author":"Graziosi","year":"2020","journal-title":"APSIPA Trans. Signal Inform. Process."},{"key":"2023121604104308200_CIT0016","first-page":"1","article-title":"Textured Mesh Vs Coloured Point Cloud: A Subjective Study for Volumetric Video Compression","author":"Zerman","year":"2020"},{"issue":"Dec.","key":"2023121604104308200_CIT0017","doi-asserted-by":"publisher","first-page":"103193","DOI":"10.1016\/j.dsp.2021.103193","article-title":"Positioning and Perception in LIDAR Point Clouds","volume":"119","author":"Benedek","year":"2021","journal-title":"Digital Signal Process."},{"issue":"Jan.","key":"2023121604104308200_CIT0018","doi-asserted-by":"publisher","first-page":"306","DOI":"10.1016\/j.aei.2019.02.007","article-title":"Applications of 3D Point Cloud Data in the Construction Industry: A Fifteen-Year Review From 2004 to 2018","volume":"39","author":"Wang","year":"2019","journal-title":"Adv. Eng. Inform."},{"issue":"1","key":"2023121604104308200_CIT0019","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1023\/A:1014573219977","article-title":"A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms","volume":"47","author":"Scharstein","year":"2002","journal-title":"Int. J. Comput. Vis."},{"key":"2023121604104308200_CIT0020","doi-asserted-by":"publisher","first-page":"205","DOI":"10.1007\/978-3-030-02227-3_14","volume-title":"Computer Performance Engineering","author":"Barbierato","year":"2018"},{"key":"2023121604104308200_CIT0021","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1007\/11867661_22","volume-title":"Image Analysis and Recognition","author":"Kim","year":"2006"},{"key":"2023121604104308200_CIT0022","article-title":"Intel Realsense","author":"Intel","year":"2023"},{"issue":"2","key":"2023121604104308200_CIT0023","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1109\/MMUL.2012.24","article-title":"Microsoft Kinect Sensor and Its Effect","volume":"19","author":"Zhang","year":"2012","journal-title":"IEEE MultiMedia"},{"key":"2023121604104308200_CIT0024","article-title":"Studios","author":"8i","year":"2023"},{"issue":"9","key":"2023121604104308200_CIT0025","doi-asserted-by":"publisher","first-page":"1521","DOI":"10.1109\/JPROC.2021.3062590","article-title":"MPEG Immersive Video Coding Standard","volume":"109","author":"Boyce","year":"2021","journal-title":"Proc. IEEE"},{"issue":"3","key":"2023121604104308200_CIT0026","doi-asserted-by":"publisher","first-page":"118","DOI":"10.1109\/MSP.2019.2900721","article-title":"Video-Based Point-Cloud-Compression Standard in MPEG: From Evidence Collection to Committee Draft [Standards in a Nutshell]","volume":"36","author":"Jang","year":"2019","journal-title":"IEEE Signal Process. Mag."},{"key":"2023121604104308200_CIT0027","doi-asserted-by":"publisher","first-page":"2866","DOI":"10.1109\/TMM.2021.3090148","article-title":"Video-Based Point Cloud Compression Artifact Removal","volume":"24","author":"Akhtar","year":"2022","journal-title":"IEEE Trans. Multimedia"},{"issue":"5","key":"2023121604104308200_CIT0028","article-title":"What\u2019s New in Point Cloud Compression?","volume":"4","author":"CAO","year":"2020","journal-title":"Global J. Eng. Sci."},{"key":"2023121604104308200_CIT0029","article-title":"G-PCC Codec Description v2","author":"ISO\/IEC MPEG (JTC 1\/SC 29\/WG 7)","year":"2021"},{"key":"2023121604104308200_CIT0030","doi-asserted-by":"publisher","first-page":"3399","DOI":"10.1109\/TIP.2022.3170722","article-title":"Attribute Artifacts Removal for Geometry-Based Point Cloud Compression","volume":"31","author":"Sheng","year":"2022","journal-title":"IEEE Trans. Image Process."},{"issue":"12","key":"2023121604104308200_CIT0031","doi-asserted-by":"publisher","first-page":"4909","DOI":"10.1109\/TCSVT.2021.3051377","article-title":"Lossy Point Cloud Geometry Compression Via End-to-End Learning","volume":"31","author":"Wang","year":"2021","journal-title":"IEEE Trans. Circ. Syst. Video Technol."},{"key":"2023121604104308200_CIT0032","doi-asserted-by":"crossref","DOI":"10.1145\/1185657.1185686","article-title":"Image-Based Lighting","author":"Debevec","year":"2006"},{"issue":"2","key":"2023121604104308200_CIT0033","doi-asserted-by":"crossref","first-page":"573","DOI":"10.1007\/s00371-020-02035-9","article-title":"Techniques for BRDF Evaluation","volume":"38","author":"da Silva Nunes","year":"2021","journal-title":"Vis. Comput."},{"key":"2023121604104308200_CIT0034","article-title":"Blender Development Team"},{"issue":"4","key":"2023121604104308200_CIT0035","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3197517.3201378","article-title":"Single-Image SVBRDF Capture With a Rendering-Aware Deep Network","volume":"37","author":"Deschaintre","year":"2018","journal-title":"ACM Trans. Graph."},{"key":"2023121604104308200_CIT0036","article-title":"Owlii Dynamic Human Mesh Sequence Dataset","author":"Xu","year":"2017"},{"key":"2023121604104308200_CIT0037","first-page":"1791","article-title":"ToFNest: Efficient Normal Estimation for Time-of-Flight Depth Cameras","author":"Molnar","year":"2021"},{"key":"2023121604104308200_CIT0038","volume-title":"Eurographics Italian Chapter Conference","author":"Cignoni","year":"2008"}],"container-title":["Journal of Computing and Information Science in Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/24\/5\/054501\/7221761\/jcise_24_5_054501.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/24\/5\/054501\/7221761\/jcise_24_5_054501.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,16]],"date-time":"2023-12-16T04:10:55Z","timestamp":1702699855000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article\/24\/5\/054501\/1167719\/Physically-Based-Rendering-of-Animated-Point"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,15]]},"references-count":38,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,5,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.4063559","relation":{},"ISSN":["1530-9827","1944-7078"],"issn-type":[{"value":"1530-9827","type":"print"},{"value":"1944-7078","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,15]]},"article-number":"054501"}}