# PMP-Net++: Point Cloud Completion by Transformer-Enhanced Multi-step Point Moving Paths

arXiv: https://arxiv.org/abs/2202.09507 · HTML: https://mlsanity.com/paper/2202.09507/

## Key facts

- Cited by 57 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 64 references that are in the map.
- First posted on arXiv 19 Feb 2022.

## Builds on (most cited first, 30 of 41)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Generative Image Inpainting with Contextual Attention](https://mlsanity.com/paper/1801.07892/) (2018)
- [AtlasNet: A Papier-Mach'e Approach to Learning 3D Surface Generation](https://mlsanity.com/paper/1802.05384/) (2018)
- [Image Inpainting for Irregular Holes Using Partial Convolutions](https://mlsanity.com/paper/1804.07723/) (2018)
- [PCN: Point Completion Network](https://mlsanity.com/paper/1808.00671/) (2018)
- [PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation](https://mlsanity.com/paper/2004.01658/) (2020)
- [Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesis](https://mlsanity.com/paper/1612.00101/) (2016)
- [PU-Net: Point Cloud Upsampling Network](https://mlsanity.com/paper/1801.06761/) (2018)
- [GRNet: Gridding Residual Network for Dense Point Cloud Completion](https://mlsanity.com/paper/2006.03761/) (2020)
- [PU-GAN: a Point Cloud Upsampling Adversarial Network](https://mlsanity.com/paper/1907.10844/) (2019)
- [SDFDiff: Differentiable Rendering of Signed Distance Fields for 3D Shape Optimization](https://mlsanity.com/paper/1912.07109/) (2019)
- [Semantic Image Inpainting with Deep Generative Models](https://mlsanity.com/paper/1607.07539/) (2016)
- [PF-Net: Point Fractal Network for 3D Point Cloud Completion](https://mlsanity.com/paper/2003.00410/) (2020)
- [Cascaded Refinement Network for Point Cloud Completion](https://mlsanity.com/paper/2004.03327/) (2020)
- [Point Cloud Completion by Skip-attention Network with Hierarchical Folding](https://mlsanity.com/paper/2005.03871/) (2020)
- [Variational Relational Point Completion Network](https://mlsanity.com/paper/2104.10154/) (2021)
- [Patch-based Progressive 3D Point Set Upsampling](https://mlsanity.com/paper/1811.11286/) (2018)
- [Point2Sequence: Learning the Shape Representation of 3D Point Clouds with an Attention-based Sequence to Sequence Network](https://mlsanity.com/paper/1811.02565/) (2018)
- [PMP-Net: Point Cloud Completion by Learning Multi-step Point Moving Paths](https://mlsanity.com/paper/2012.03408/) (2020)
- [High-Resolution Shape Completion Using Deep Neural Networks for Global Structure and Local Geometry Inference](https://mlsanity.com/paper/1709.07599/) (2017)
- [Detail Preserved Point Cloud Completion via Separated Feature Aggregation](https://mlsanity.com/paper/2007.02374/) (2020)
- [Multi-Angle Point Cloud-VAE: Unsupervised Feature Learning for 3D Point Clouds from Multiple Angles by Joint Self-Reconstruction and Half-to-Half Prediction](https://mlsanity.com/paper/1907.12704/) (2019)
- [RL-GAN-Net: A Reinforcement Learning Agent Controlled GAN Network for Real-Time Point Cloud Shape Completion](https://mlsanity.com/paper/1904.12304/) (2019)
- [A Survey of Visual Analytics Techniques for Machine Learning](https://mlsanity.com/paper/2008.09632/) (2020)
- [Cycle4Completion: Unpaired Point Cloud Completion using Cycle Transformation with Missing Region Coding](https://mlsanity.com/paper/2103.07838/) (2021)
- [DRWR: A Differentiable Renderer without Rendering for Unsupervised 3D Structure Learning from Silhouette Images](https://mlsanity.com/paper/2007.06127/) (2020)
- [SoftPoolNet: Shape Descriptor for Point Cloud Completion and Classification](https://mlsanity.com/paper/2008.07358/) (2020)

## Built on by (most cited first, 30 of 57)

- [CAP-UDF: Learning Unsigned Distance Functions Progressively from Raw Point Clouds with Consistency-Aware Field Optimization](https://mlsanity.com/paper/2210.02757/) (2022)
- [3D Shape Reconstruction from 2D Images with Disentangled Attribute Flow](https://mlsanity.com/paper/2203.15190/) (2022)
- [Comprehensive Review of Deep Learning-Based 3D Point Cloud Completion Processing and Analysis](https://mlsanity.com/paper/2203.03311/) (2022)
- [PointAttN: You Only Need Attention for Point Cloud Completion](https://mlsanity.com/paper/2203.08485/) (2022)
- [ProxyFormer: Proxy Alignment Assisted Point Cloud Completion with Missing Part Sensitive Transformer](https://mlsanity.com/paper/2302.14435/) (2023)
- [Learning a More Continuous Zero Level Set in Unsigned Distance Fields through Level Set Projection](https://mlsanity.com/paper/2308.11441/) (2023)
- [SVDFormer: Complementing Point Cloud via Self-view Augmentation and Self-structure Dual-generator](https://mlsanity.com/paper/2307.08492/) (2023)
- [Transformers in 3D Point Clouds: A Survey](https://mlsanity.com/paper/2205.07417/) (2022)
- [Unsupervised Inference of Signed Distance Functions from Single Sparse Point Clouds without Learning Priors](https://mlsanity.com/paper/2303.14505/) (2023)
- [UDiFF: Generating Conditional Unsigned Distance Fields with Optimal Wavelet Diffusion](https://mlsanity.com/paper/2404.06851/) (2024)
- [3D-OAE: Occlusion Auto-Encoders for Self-Supervised Learning on Point Clouds](https://mlsanity.com/paper/2203.14084/) (2022)
- [VRP-UDF: Towards Unbiased Learning of Unsigned Distance Functions from Multi-view Images with Volume Rendering Priors](https://mlsanity.com/paper/2407.16396/) (2024)
- [PCDreamer: Point Cloud Completion Through Multi-view Diffusion Priors](https://mlsanity.com/paper/2411.19036/) (2024)
- [Fast Learning of Signed Distance Functions from Noisy Point Clouds via Noise to Noise Mapping](https://mlsanity.com/paper/2407.14225/) (2024)
- [PointSSC: A Cooperative Vehicle-Infrastructure Point Cloud Benchmark for Semantic Scene Completion](https://mlsanity.com/paper/2309.12708/) (2023)
- [NeRFPrior: Learning Neural Radiance Field as a Prior for Indoor Scene Reconstruction](https://mlsanity.com/paper/2503.18361/) (2025)
- [CasFusionNet: A Cascaded Network for Point Cloud Semantic Scene Completion by Dense Feature Fusion](https://mlsanity.com/paper/2211.13702/) (2022)
- [GridPull: Towards Scalability in Learning Implicit Representations from 3D Point Clouds](https://mlsanity.com/paper/2308.13175/) (2023)
- [Explicitly Guided Information Interaction Network for Cross-modal Point Cloud Completion](https://mlsanity.com/paper/2407.02887/) (2024)
- [PointSea: Point Cloud Completion via Self-structure Augmentation](https://mlsanity.com/paper/2502.17053/) (2025)
- [T-CorresNet: Template Guided 3D Point Cloud Completion with Correspondence Pooling Query Generation Strategy](https://mlsanity.com/paper/2407.05008/) (2024)
- [Retro-FPN: Retrospective Feature Pyramid Network for Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2308.09314/) (2023)
- [FSC: Few-point Shape Completion](https://mlsanity.com/paper/2403.07359/) (2024)
- [Shape Completion with Points in the Shadow](https://mlsanity.com/paper/2209.08345/) (2022)
- [Deep Learning for 3D Point Cloud Enhancement: A Survey](https://mlsanity.com/paper/2411.00857/) (2024)
- [PointCFormer: a Relation-based Progressive Feature Extraction Network for Point Cloud Completion](https://mlsanity.com/paper/2412.08421/) (2024)
- [DDEQs: Distributional Deep Equilibrium Models through Wasserstein Gradient Flows](https://mlsanity.com/paper/2503.01140/) (2025)
- [Learning Local Pattern Modularization for Point Cloud Reconstruction from Unseen Classes](https://mlsanity.com/paper/2408.14279/) (2024)
- [TCFNet: Bidirectional face-bone transformation via a Transformer-based coarse-to-fine point movement network](https://mlsanity.com/paper/2508.14373/) (2025)
- [Point Cloud Completion Guided by Prior Knowledge via Causal Inference](https://mlsanity.com/paper/2305.17770/) (2023)

## Abstract (arXiv)

Point cloud completion concerns to predict missing part for incomplete 3D shapes. A common strategy is to generate complete shape according to incomplete input. However, unordered nature of point clouds will degrade generation of high-quality 3D shapes, as detailed topology and structure of unordered points are hard to be captured during the generative process using an extracted latent code. We address this problem by formulating completion as point cloud deformation process. Specifically, we design a novel neural network, named PMP-Net++, to mimic behavior of an earth mover. It moves each point of incomplete input to obtain a complete point cloud, where total distance of point moving paths (PMPs) should be the shortest. Therefore, PMP-Net++ predicts unique PMP for each point according to constraint of point moving distances. The network learns a strict and unique correspondence on point-level, and thus improves quality of predicted complete shape. Moreover, since moving points heavily relies on per-point features learned by network, we further introduce a transformer-enhanced representation learning network, which significantly improves completion performance of PMP-Net++. We conduct comprehensive experiments in shape completion, and further explore application on point cloud up-sampling, which demonstrate non-trivial improvement of PMP-Net++ over state-of-the-art point cloud completion/up-sampling methods.