  Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient smoothing tool based on multivariate splines over the tetrahedral partitions to extract the underlying signal and build up a 3D solid model from the point cloud. The proposed smoothing method can denoise or deblur the point cloud effectively and provide a multi-resolution reconstruction of the actual signal. In addition, it can handle sparse and irregularly distributed point clouds and recover the underlying trajectory. The proposed smoothing and interpolation method also provides a natural way of numerosity data reduction. Furthermore, we establish the theoretical guarantees of the proposed method. Specifically, we derive the convergence rate and asymptotic normality of the proposed estimator and illustrate that the convergence rate achieves the optimal nonparametric convergence rate. Through extensive simulation studies and a real data example, we demonstrate the superiority of the proposed method over traditional smoothing methods in terms of estimation accuracy and efficiency of data reduction. 
Nonparametric Regression for 3D Point Cloud Learning