  Recent years we have witnessed rapid development in NeRF-based image
rendering due to its high quality. However, point clouds rendering is somehow
less explored. Compared to NeRF-based rendering which suffers from dense
spatial sampling, point clouds rendering is naturally less computation
intensive, which enables its deployment in mobile computing device. In this
work, we focus on boosting the image quality of point clouds rendering with a
compact model design. We first analyze the adaption of the volume rendering
formulation on point clouds. Based on the analysis, we simplify the NeRF
representation to a spatial mapping function which only requires single
evaluation per pixel. Further, motivated by ray marching, we rectify the the
noisy raw point clouds to the estimated intersection between rays and surfaces
as queried coordinates, which could avoid \textit{spatial frequency collapse}
and neighbor point disturbance. Composed of rasterization, spatial mapping and
the refinement stages, our method achieves the state-of-the-art performance on
point clouds rendering, outperforming prior works by notable margins, with a
smaller model size. We obtain a PSNR of 31.74 on NeRF-Synthetic, 25.88 on
ScanNet and 30.81 on DTU. Code and data are publicly available at
https://github.com/seanywang0408/RadianceMapping.
