# SE-ORNet: Self-Ensembling Orientation-aware Network for Unsupervised Point Cloud Shape Correspondence

arXiv: https://arxiv.org/abs/2304.05395 · HTML: https://mlsanity.com/paper/2304.05395/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 36 references that are in the map.
- First posted on arXiv 10 Apr 2023.

## Builds on (most cited first, 21 of 21)

- [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)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Temporal Ensembling for Semi-Supervised Learning](https://mlsanity.com/paper/1610.02242/) (2016)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [3D Menagerie: Modeling the 3D shape and pose of animals](https://mlsanity.com/paper/1611.07700/) (2016)
- [3D Bounding Box Estimation Using Deep Learning and Geometry](https://mlsanity.com/paper/1612.00496/) (2016)
- [Semi-Supervised Learning with Ladder Networks](https://mlsanity.com/paper/1507.02672/) (2015)
- [PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling](https://mlsanity.com/paper/2003.00492/) (2020)
- [3D-CODED : 3D Correspondences by Deep Deformation](https://mlsanity.com/paper/1806.05228/) (2018)
- [Learning elementary structures for 3D shape generation and matching](https://mlsanity.com/paper/1908.04725/) (2019)
- [Continuous and Orientation-preserving Correspondences via Functional Maps](https://mlsanity.com/paper/1806.04455/) (2018)
- [Adaptive Graph Convolution for Point Cloud Analysis](https://mlsanity.com/paper/2108.08035/) (2021)
- [Correspondence Learning via Linearly-invariant Embedding](https://mlsanity.com/paper/2010.13136/) (2020)
- [CorrNet3D: Unsupervised End-to-end Learning of Dense Correspondence for 3D Point Clouds](https://mlsanity.com/paper/2012.15638/) (2020)
- [Dual Geometric Graph Network (DG2N) -- Iterative network for deformable shape alignment](https://mlsanity.com/paper/2011.14723/) (2020)
- [Learning Inner-Group Relations on Point Clouds](https://mlsanity.com/paper/2108.12468/) (2021)
- [Human Motion Transfer with 3D Constraints and Detail Enhancement](https://mlsanity.com/paper/2003.13510/) (2020)
- [Implicit field supervision for robust non-rigid shape matching](https://mlsanity.com/paper/2203.07694/) (2022)

## Built on by (most cited first, 19 of 19)

- [Diffusion 3D Features (Diff3F): Decorating Untextured Shapes with Distilled Semantic Features](https://mlsanity.com/paper/2311.17024/) (2023)
- [Hierarchical Neural Semantic Representation for 3D Semantic Correspondence](https://mlsanity.com/paper/2509.17431/) (2025)
- [Non-Rigid Shape Registration via Deep Functional Maps Prior](https://mlsanity.com/paper/2311.04494/) (2023)
- [SRIF: Semantic Shape Registration Empowered by Diffusion-based Image Morphing and Flow Estimation](https://mlsanity.com/paper/2409.11682/) (2024)
- [DV-Matcher: Deformation-based Non-Rigid Point Cloud Matching Guided by Pre-trained Visual Features](https://mlsanity.com/paper/2408.08568/) (2024)
- [BSNet: Box-Supervised Simulation-assisted Mean Teacher for 3D Instance Segmentation](https://mlsanity.com/paper/2403.15019/) (2024)
- [CA-I2P: Channel-Adaptive Registration Network with Global Optimal Selection](https://mlsanity.com/paper/2506.21364/) (2025)
- [Unsupervised Template-assisted Point Cloud Shape Correspondence Network](https://mlsanity.com/paper/2403.16412/) (2024)
- [Textured 3D Regenerative Morphing with 3D Diffusion Prior](https://mlsanity.com/paper/2502.14316/) (2025)
- [SAS: Segment Any 3D Scene with Integrated 2D Priors](https://mlsanity.com/paper/2503.08512/) (2025)
- [Surface-Aware Distilled 3D Semantic Features](https://mlsanity.com/paper/2503.18254/) (2025)
- [Symmetry Understanding of 3D Shapes via Chirality Disentanglement](https://mlsanity.com/paper/2508.05505/) (2025)
- [Wukong's 72 Transformations: High-fidelity Textured 3D Morphing via Flow Models](https://mlsanity.com/paper/2511.22425/) (2025)
- [Equivariant Local Reference Frames for Unsupervised Non-rigid Point Cloud Shape Correspondence](https://mlsanity.com/paper/2404.00959/) (2024)
- [GeoGuide: Hierarchical Geometric Guidance for Open-Vocabulary 3D Semantic Segmentation](https://mlsanity.com/paper/2603.26260/) (2026)
- [GLASS: Geometry-aware Local Alignment and Structure Synchronization Network for 2D-3D Registration](https://mlsanity.com/paper/2603.26262/) (2026)
- [NFR: Neural Feature-Guided Non-Rigid Shape Registration](https://mlsanity.com/paper/2505.22445/) (2025)
- [FS-I2P:A Hierarchical Focus-Sweep Registration Network with Dynamically Allocated Depth](https://mlsanity.com/paper/2605.07607/) (2026)
- [Mask 2D-3D: Adaptive Dual-Masked Autoencoder Network for Image-to-Point Cloud Registration](https://mlsanity.com/paper/2609.18088/) (2026)

## Abstract (arXiv)

Unsupervised point cloud shape correspondence aims to obtain dense point-to-point correspondences between point clouds without manually annotated pairs. However, humans and some animals have bilateral symmetry and various orientations, which lead to severe mispredictions of symmetrical parts. Besides, point cloud noise disrupts consistent representations for point cloud and thus degrades the shape correspondence accuracy. To address the above issues, we propose a Self-Ensembling ORientation-aware Network termed SE-ORNet. The key of our approach is to exploit an orientation estimation module with a domain adaptive discriminator to align the orientations of point cloud pairs, which significantly alleviates the mispredictions of symmetrical parts. Additionally, we design a selfensembling framework for unsupervised point cloud shape correspondence. In this framework, the disturbances of point cloud noise are overcome by perturbing the inputs of the student and teacher networks with different data augmentations and constraining the consistency of predictions. Extensive experiments on both human and animal datasets show that our SE-ORNet can surpass state-of-the-art unsupervised point cloud shape correspondence methods.