A K-means Clustering Algorithm with Total Bregman Divergence for Point Cloud Denoising

Point cloud denoising is essential for improving 3D data quality, yet traditional K-means methods relying on Euclidean distance struggle with non-uniform noise. This paper proposes a K-means algorithm leveraging Total Bregman Divergence (TBD) to better model geometric structures on manifolds, enhancing robustness against noise. Specifically, TBDs - Total Logarithm, Exponential, and Inverse Divergences - are defined on symmetric positive-definite matrices, each tailored to capture distinct local geometries. Theoretical analysis demonstrates the bounded sensitivity of TBD-induced means to outliers via influence functions, while anisotropy indices quantify structural variations. Numerical experiments validate the methods superiority over Euclidean-based approaches, showing effective noise separation and improved stability. The work bridges geometric insights with practical clustering, offering a robust framework for point cloud preprocessing in vision and robotics applications.