Before revision:  The experiments show that our method can generate a dense and complete point cloud model of pipe-shaped utilities based on a sparse input, i.e., GPR raw data , with various levels of incompleteness and noise.
After revision:  In this paper, both the quantitative and qualitative experiment results verify our method that can generate a dense and complete point cloud model of pipe-shaped utilities based on a sparse input, i.e., GPR raw data , with various levels of incompleteness and noise.