Robust mesh denoising via vertex pre-filtering and L₁-median normal filtering

We propose a robust and effective mesh denoising approach consisting of three steps: vertex pre-filtering, L1-median normal filtering, and vertex updating. Given an input noisy mesh model, our method generates a high quality model that preserves geometric features. Our approach is more robust than state of the art approaches when denoising models with different levels of noise and can handle models with irregular surface sampling.