  In this letter, we introduce several algorithms for geometry inpainting of 3D
point clouds with large holes. The algorithms are examplar-based: hole filling
is performed iteratively using templates near the hole boundary to find the
best matching regions elsewhere in the cloud, from where existing points are
transferred to the hole. We propose two improvements over the previous work on
exemplar-based hole filling. The first one is adaptive template size selection
in each iteration, which simultaneously leads to higher accuracy and lower
execution time. The second improvement is a non-rigid transformation to better
align the candidate set of points with the template before the point transfer,
which leads to even higher accuracy. We demonstrate the algorithms' ability to
fill holes that are difficult or impossible to fill by existing methods.
