RecolorCloud: A Point Cloud Tool for Recoloring, Segmentation, and
  Conversion
Esteban Segarra Martinez Ryan P. McMahan
Point clouds are a 3D space representation of an environment that was
recorded with a high precision laser scanner. These scanners can suffer from
environmental interference such as surface shading, texturing, and reflections.
Because of this, point clouds may be contaminated with fake or incorrect
colors. Current open source or proprietary tools offer limited or no access to
correcting these visual errors automatically.
  RecolorCloud is a tool developed to resolve these color conflicts by
utilizing automated color recoloring. We offer the ability to deleting or
recoloring outlier points automatically with users only needing to specify
bounding box regions to effect colors. Results show a vast improvement of the
photo-realistic quality of large point clouds. Additionally, users can quickly
recolor a point cloud with set semantic segmentation colors.