arXiv:2512.03424cs.CV2025-12被引 1

动态调整点云特征采样,提升3D理解精度

DM3D: Dynamic Mamba via Offset-Guided Feature Resampling for Point Cloud Understanding

  • 基于局部特征学习空间与序列偏移,动态调整采样
  • 在ModelNet40达95.2%准确率,ShapeNetPart类mIoU达84.8%
  • 适合需要高精度点云理解的工业检测与机器人场景

状态空间模型(SSMs)以线性复杂度建模点云长序列,但需将无序点云序列化。现有方法主要通过设计或学习更优的令牌顺序来应对,然而固定序列难以保留不规则3D表面上的所有局部关系:索引相近的点可能在3D空间中相距甚远或属于不同物体部分。本文提出DM3D,一种动态Mamba架构,在保持原始遍历顺序的基础上,自适应调整局部特征支持与状态传播。首先,根据局部特征上下文,DM3D无需全局排列即可学习空间与序列偏移;空间偏移调整3D采样锚点,序列偏移则引导局部序列窗口内的特征重采样,使不同位置可从重叠局部支持中获取信息,同时保留身份。其次,状态更新由相邻序列位置点间的3D距离调节,当两点空间距离远时降低信息传播。DM3D在ModelNet40上达到95.2%准确率,ScanObjectNN PB_T50_RS子集上为93.3%,ShapeNetPart上类mIoU达84.8%。大量实验表明其性能强且具有竞争力,验证了局部特征自适应对点云理解的有效性。

原文摘要 · Abstract (English)

State Space Models (SSMs) model long token sequences of point cloud with linear complexity, but require an unordered point cloud to be serialized. Existing methods mainly address this requirement by designing or learning a better token order. Even a well-constructed order, however, cannot preserve every local relation on an irregular 3D surface: a fixed sequence may still mix points that are close in index but distant in 3D or belong to different object parts. We propose DM3D, a dynamic Mamba architecture that preserves the base token order while adapting local feature support and state propagation. First, according to local feature context, DM3D learns spatial and sequence offsets without constructing a global permutation. Then, spatial offsets adjust the sampling anchors in 3D space, whereas sequence offsets guide feature resampling within a local sequence window, which lets different slots draw from overlapping local supports while retaining their identities. This design preserves the global prior of the original traversal, allowing each token to aggregate a more suitable local context. Second, the state update is modulated by the 3D distance between points at adjacent sequence positions, thereby reducing information propagation when these points are spatially far apart. DM3D reaches 95.2\% accuracy on the ModelNet40, 93.3\% accuracy on the PB\_T50\_RS split of ScanObjectNN, and 84.8\% class mIoU on ShapeNetPart. Extensive experiments on benchmark datasets show that DM3D achieves strong and competitive performance, validating the effectiveness of local feature adaptation for point cloud understanding.

点云理解动态建模Mamba3D感知

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