# GPSFormer: A Global Perception and Local Structure Fitting-based Transformer for Point Cloud Understanding

arXiv: https://arxiv.org/abs/2407.13519 · HTML: https://mlsanity.com/paper/2407.13519/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Builds on 45 of its 65 references that are in the map.
- First posted on arXiv 18 Jul 2024.

## Builds on (most cited first, 30 of 45)

- [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)
- [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)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [PCT: Point cloud transformer](https://mlsanity.com/paper/2012.09688/) (2020)
- [PointConv: Deep Convolutional Networks on 3D Point Clouds](https://mlsanity.com/paper/1811.07246/) (2018)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [Multi-view Convolutional Neural Networks for 3D Shape Recognition](https://mlsanity.com/paper/1505.00880/) (2015)
- [Learning a Probabilistic Latent Space of Object Shapes via 3D Generative-Adversarial Modeling](https://mlsanity.com/paper/1610.07584/) (2016)
- [Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data](https://mlsanity.com/paper/1908.04616/) (2019)
- [Masked Autoencoders for Point Cloud Self-supervised Learning](https://mlsanity.com/paper/2203.06604/) (2022)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [Relation-Shape Convolutional Neural Network for Point Cloud Analysis](https://mlsanity.com/paper/1904.07601/) (2019)
- [OctNet: Learning Deep 3D Representations at High Resolutions](https://mlsanity.com/paper/1611.05009/) (2016)
- [ULIP: Learning a Unified Representation of Language, Images, and Point Clouds for 3D Understanding](https://mlsanity.com/paper/2212.05171/) (2022)
- [PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling](https://mlsanity.com/paper/2003.00492/) (2020)
- [PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling on Point Clouds](https://mlsanity.com/paper/2103.14635/) (2021)
- [Revisiting Point Cloud Shape Classification with a Simple and Effective Baseline](https://mlsanity.com/paper/2106.05304/) (2021)
- [MVTN: Multi-View Transformation Network for 3D Shape Recognition](https://mlsanity.com/paper/2011.13244/) (2020)
- [PointGPT: Auto-regressively Generative Pre-training from Point Clouds](https://mlsanity.com/paper/2305.11487/) (2023)
- [Local Spectral Graph Convolution for Point Set Feature Learning](https://mlsanity.com/paper/1803.05827/) (2018)
- [Surface Representation for Point Clouds](https://mlsanity.com/paper/2205.05740/) (2022)
- [Global-Local Bidirectional Reasoning for Unsupervised Representation Learning of 3D Point Clouds](https://mlsanity.com/paper/2003.12971/) (2020)
- [A-CNN: Annularly Convolutional Neural Networks on Point Clouds](https://mlsanity.com/paper/1904.08017/) (2019)
- [Adaptive Graph Convolution for Point Cloud Analysis](https://mlsanity.com/paper/2108.08035/) (2021)
- [End-to-End Learning Local Multi-view Descriptors for 3D Point Clouds](https://mlsanity.com/paper/2003.05855/) (2020)

## Built on by (most cited first, 12 of 12)

- [Exploiting Multimodal Spatial-temporal Patterns for Video Object Tracking](https://mlsanity.com/paper/2412.15691/) (2024)
- [Parameter-Efficient Fine-Tuning in Spectral Domain for Point Cloud Learning](https://mlsanity.com/paper/2410.08114/) (2024)
- [Multimodality Helps Few-shot 3D Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2410.22489/) (2024)
- [ReferSplat: Referring Segmentation in 3D Gaussian Splatting](https://mlsanity.com/paper/2508.08252/) (2025)
- [Generalized Few-shot 3D Point Cloud Segmentation with Vision-Language Model](https://mlsanity.com/paper/2503.16282/) (2025)
- [Multi-Pair Temporal Sentence Grounding via Multi-Thread Knowledge Transfer Network](https://mlsanity.com/paper/2412.15678/) (2024)
- [Taylor Series-Inspired Local Structure Fitting Network for Few-shot Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2504.02454/) (2025)
- [UniPre3D: Unified Pre-training of 3D Point Cloud Models with Cross-Modal Gaussian Splatting](https://mlsanity.com/paper/2506.09952/) (2025)
- [Multi-view Structural Convolution Network for Domain-Invariant Point Cloud Recognition of Autonomous Vehicles](https://mlsanity.com/paper/2501.16289/) (2025)
- [Joint Optimization of Storage and Loading for High-Performance 3D Point Cloud Data Processing](https://mlsanity.com/paper/2603.16945/) (2026)
- [ROAD: Reciprocal-Objective Alignment of Discriminative Semantics for 3D Shape Generation](https://mlsanity.com/paper/2607.28581/) (2026)
- [Semantic Privacy Protection with Utility Preservation for 3D Point Clouds](https://mlsanity.com/paper/2609.13823/) (2026)

## Abstract (arXiv)

Despite the significant advancements in pre-training methods for point cloud understanding, directly capturing intricate shape information from irregular point clouds without reliance on external data remains a formidable challenge. To address this problem, we propose GPSFormer, an innovative Global Perception and Local Structure Fitting-based Transformer, which learns detailed shape information from point clouds with remarkable precision. The core of GPSFormer is the Global Perception Module (GPM) and the Local Structure Fitting Convolution (LSFConv). Specifically, GPM utilizes Adaptive Deformable Graph Convolution (ADGConv) to identify short-range dependencies among similar features in the feature space and employs Multi-Head Attention (MHA) to learn long-range dependencies across all positions within the feature space, ultimately enabling flexible learning of contextual representations. Inspired by Taylor series, we design LSFConv, which learns both low-order fundamental and high-order refinement information from explicitly encoded local geometric structures. Integrating the GPM and LSFConv as fundamental components, we construct GPSFormer, a cutting-edge Transformer that effectively captures global and local structures of point clouds. Extensive experiments validate GPSFormer's effectiveness in three point cloud tasks: shape classification, part segmentation, and few-shot learning. The code of GPSFormer is available at urlhttps://github.com/changshuowang/GPSFormer.