# GeoAuxNet: Towards Universal 3D Representation Learning for Multi-sensor Point Clouds

arXiv: https://arxiv.org/abs/2403.19220 · HTML: https://mlsanity.com/paper/2403.19220/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 43 of its 57 references that are in the map.
- First posted on arXiv 28 Mar 2024.

## Builds on (most cited first, 30 of 43)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [3D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotation](https://mlsanity.com/paper/1606.06650/) (2016)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [Documenting Large Webtext Corpora: A Case Study on the Colossal Clean Crawled Corpus](https://mlsanity.com/paper/2104.08758/) (2021)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [Point-Voxel CNN for Efficient 3D Deep Learning](https://mlsanity.com/paper/1907.03739/) (2019)
- [STD: Sparse-to-Dense 3D Object Detector for Point Cloud](https://mlsanity.com/paper/1907.10471/) (2019)
- [PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation](https://mlsanity.com/paper/2003.14032/) (2020)
- [SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud](https://mlsanity.com/paper/1710.07368/) (2017)
- [DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detection](https://mlsanity.com/paper/2203.08195/) (2022)
- [PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling on Point Clouds](https://mlsanity.com/paper/2103.14635/) (2021)
- [Simultaneous Deep Transfer Across Domains and Tasks](https://mlsanity.com/paper/1510.02192/) (2015)
- [Super-Convergence: Very Fast Training of Neural Networks Using Large Learning Rates](https://mlsanity.com/paper/1708.07120/) (2017)
- [OccuSeg: Occupancy-aware 3D Instance Segmentation](https://mlsanity.com/paper/2003.06537/) (2020)
- [Knowledge Distillation Meets Self-Supervision](https://mlsanity.com/paper/2006.07114/) (2020)
- [Rethinking Range View Representation for LiDAR Segmentation](https://mlsanity.com/paper/2303.05367/) (2023)
- [Simple multi-dataset detection](https://mlsanity.com/paper/2102.13086/) (2021)

## Built on by (most cited first, 3 of 3)

- [Adaptive Margin Contrastive Learning for Ambiguity-aware 3D Semantic Segmentation](https://mlsanity.com/paper/2502.04111/) (2025)
- [Ambiguity-aware Point Cloud Segmentation by Adaptive Margin Contrastive Learning](https://mlsanity.com/paper/2507.06592/) (2025)
- [EPSegFZ: Efficient Point Cloud Semantic Segmentation for Few- and Zero-Shot Scenarios with Language Guidance](https://mlsanity.com/paper/2511.11700/) (2025)

## Abstract (arXiv)

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors. Typically, point-based methods achieve outstanding performances on even-distributed dense point clouds from RGB-D cameras, while voxel-based methods are more efficient for large-range sparse LiDAR point clouds. In this paper, we propose geometry-to-voxel auxiliary learning to enable voxel representations to access point-level geometric information, which supports better generalisation of the voxel-based backbone with additional interpretations of multi-sensor point clouds. Specifically, we construct hierarchical geometry pools generated by a voxel-guided dynamic point network, which efficiently provide auxiliary fine-grained geometric information adapted to different stages of voxel features. We conduct experiments on joint multi-sensor datasets to demonstrate the effectiveness of GeoAuxNet. Enjoying elaborate geometric information, our method outperforms other models collectively trained on multi-sensor datasets, and achieve competitive results with the-state-of-art experts on each single dataset.