用形变机制提升点云上下文学习,更准更稳。
Deformation-based In-Context Learning for Point Cloud Understanding
- 通过形变查询点云,利用几何先验增强推理
- 在重建、去噪、配准任务上分别降低1.6、1.8、4.7的平均Chamfer距离
- 适合需要高精度点云理解与泛化能力的研究者
点云上下文学习(ICL)近年展现出强大的多任务能力。现有方法多采用基于掩码点建模(MPM)的范式,直接从掩码标记预测目标点云,缺乏几何先验,依赖变压器仅通过标记级关联推断空间结构和几何细节。此外,这些方法存在训练-推理目标不一致问题:模型学习时使用了推理时不可用的目标侧信息。为此,我们提出基于形变的框架DeformPIC,不再依赖掩码重建,而是根据提示中的任务引导对查询点云进行形变,实现显式的几何推理与一致的目标。大量实验表明,DeformPIC持续优于现有最先进方法,在重建、去噪、注册任务上平均Chamfer Distance分别降低1.6、1.8、4.7点。此外,我们引入新的域外基准以评估跨未见数据分布的泛化能力,DeformPIC表现达到当前最优。
原文摘要 · Abstract (English)
Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods directly predict the target point cloud from masked tokens without leveraging geometric priors, requiring the model to infer spatial structure and geometric details solely from token-level correlations via transformers. Additionally, these methods suffer from a training-inference objective mismatch, as the model learns to predict the target point cloud using target-side information that is unavailable at inference time. To address these challenges, we propose DeformPIC, a deformation-based framework for point cloud ICL. Unlike existing approaches that rely on masked reconstruction, DeformPIC learns to deform the query point cloud under task-specific guidance from prompts, enabling explicit geometric reasoning and consistent objectives. Extensive experiments demonstrate that DeformPIC consistently outperforms previous state-of-the-art methods, achieving reductions of 1.6, 1.8, and 4.7 points in average Chamfer Distance on reconstruction, denoising, and registration tasks, respectively. Furthermore, we introduce a new out-of-domain benchmark to evaluate generalization across unseen data distributions, where DeformPIC achieves state-of-the-art performance.
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