# PointCore: Efficient Unsupervised Point Cloud Anomaly Detector Using Local-Global Features

arXiv: https://arxiv.org/abs/2403.01804 · HTML: https://mlsanity.com/paper/2403.01804/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 21 references that are in the map.
- First posted on arXiv 4 Mar 2024.

## Builds on (most cited first, 10 of 10)

- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Towards Total Recall in Industrial Anomaly Detection](https://mlsanity.com/paper/2106.08265/) (2021)
- [DRAEM -- A discriminatively trained reconstruction embedding for surface anomaly detection](https://mlsanity.com/paper/2108.07610/) (2021)
- [Masked Autoencoders for Point Cloud Self-supervised Learning](https://mlsanity.com/paper/2203.06604/) (2022)
- [Multimodal Industrial Anomaly Detection via Hybrid Fusion](https://mlsanity.com/paper/2303.00601/) (2023)
- [Back to the Feature: Classical 3D Features are (Almost) All You Need for 3D Anomaly Detection](https://mlsanity.com/paper/2203.05550/) (2022)
- [Real3D-AD: A Dataset of Point Cloud Anomaly Detection](https://mlsanity.com/paper/2309.13226/) (2023)
- [Towards Scalable 3D Anomaly Detection and Localization: A Benchmark via 3D Anomaly Synthesis and A Self-Supervised Learning Network](https://mlsanity.com/paper/2311.14897/) (2023)
- [Predictive Generalized Graph Fourier Transform for Attribute Compression of Dynamic Point Clouds](https://mlsanity.com/paper/1908.01970/) (2019)

## Built on by (most cited first, 5 of 5)

- [M3DM-NR: RGB-3D Noisy-Resistant Industrial Anomaly Detection via Multimodal Denoising](https://mlsanity.com/paper/2406.02263/) (2024)
- [Revisiting Multimodal Fusion for 3D Anomaly Detection from an Architectural Perspective](https://mlsanity.com/paper/2412.17297/) (2024)
- [A Survey on Foundation-Model-Based Industrial Defect Detection](https://mlsanity.com/paper/2502.19106/) (2025)
- [3DKeyAD: High-Resolution 3D Point Cloud Anomaly Detection via Keypoint-Guided Point Clustering](https://mlsanity.com/paper/2507.13110/) (2025)
- [Multi-View Reconstruction with Global Context for 3D Anomaly Detection](https://mlsanity.com/paper/2507.21555/) (2025)

## Abstract (arXiv)

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing point cloud anomaly detection methods often incorporate multiple feature memory banks to fully preserve local and global representations, which comes at the high cost of computational complexity and mismatches between features. To address that, we propose an unsupervised point cloud anomaly detection framework based on joint local-global features, termed PointCore. To be specific, PointCore only requires a single memory bank to store local (coordinate) and global (PointMAE) representations and different priorities are assigned to these local-global features, thereby reducing the computational cost and mismatching disturbance in inference. Furthermore, to robust against the outliers, a normalization ranking method is introduced to not only adjust values of different scales to a notionally common scale, but also transform densely-distributed data into a uniform distribution. Extensive experiments on Real3D-AD dataset demonstrate that PointCore achieves competitive inference time and the best performance in both detection and localization as compared to the state-of-the-art Reg3D-AD approach and several competitors.