# Continual Learning in 3D Point Clouds: Employing Spectral Techniques for Exemplar Selection

arXiv: https://arxiv.org/abs/2409.08388 · HTML: https://mlsanity.com/paper/2409.08388/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 58 references that are in the map.
- First posted on arXiv 12 Sep 2024.

## Builds on (most cited first, 30 of 40)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [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)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Progressive Neural Networks](https://mlsanity.com/paper/1606.04671/) (2016)
- [Continual Learning with Deep Generative Replay](https://mlsanity.com/paper/1705.08690/) (2017)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [PackNet: Adding Multiple Tasks to a Single Network by Iterative Pruning](https://mlsanity.com/paper/1711.05769/) (2017)
- [Riemannian Walk for Incremental Learning: Understanding Forgetting and Intransigence](https://mlsanity.com/paper/1801.10112/) (2018)
- [Large Scale Incremental Learning](https://mlsanity.com/paper/1905.13260/) (2019)
- [End-to-End Incremental Learning](https://mlsanity.com/paper/1807.09536/) (2018)
- [Deep Learning for 3D Point Clouds: A Survey](https://mlsanity.com/paper/1912.12033/) (2019)
- [Class-incremental learning: survey and performance evaluation on image classification](https://mlsanity.com/paper/2010.15277/) (2020)
- [Measuring Catastrophic Forgetting in Neural Networks](https://mlsanity.com/paper/1708.02072/) (2017)
- [Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud](https://mlsanity.com/paper/2003.01251/) (2020)
- [Learning without Memorizing](https://mlsanity.com/paper/1811.08051/) (2018)
- [Class-Incremental Learning: A Survey](https://mlsanity.com/paper/2302.03648/) (2023)
- [Learning to Remember: A Synaptic Plasticity Driven Framework for Continual Learning](https://mlsanity.com/paper/1904.03137/) (2019)
- [Walk in the Cloud: Learning Curves for Point Clouds Shape Analysis](https://mlsanity.com/paper/2105.01288/) (2021)
- [Revisiting Point Cloud Shape Classification with a Simple and Effective Baseline](https://mlsanity.com/paper/2106.05304/) (2021)
- [Density-aware Chamfer Distance as a Comprehensive Metric for Point Cloud Completion](https://mlsanity.com/paper/2111.12702/) (2021)
- [On Learning the Geodesic Path for Incremental Learning](https://mlsanity.com/paper/2104.08572/) (2021)
- [Deep Projective 3D Semantic Segmentation](https://mlsanity.com/paper/1705.03428/) (2017)
- [Learning Geometry-Disentangled Representation for Complementary Understanding of 3D Object Point Cloud](https://mlsanity.com/paper/2012.10921/) (2020)
- [Ultra-Scalable Spectral Clustering and Ensemble Clustering](https://mlsanity.com/paper/1903.01057/) (2019)
- [FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization](https://mlsanity.com/paper/1811.10136/) (2018)

## Built on by (most cited first, 4 of 4)

- [MIRACLE3D: Memory-efficient Integrated Robust Approach for Continual Learning on Point Clouds via Shape Model Construction](https://mlsanity.com/paper/2410.06418/) (2024)
- [Continual Learning Strategies for 3D Engineering Regression Problems: A Benchmarking Study](https://mlsanity.com/paper/2504.12503/) (2025)
- [RoAD Benchmark: How LiDAR Models Fail under Coupled Domain Shifts and Label Evolution](https://mlsanity.com/paper/2601.07855/) (2026)
- [ReConText3D: Replay-based Continual Text-to-3D Generation](https://mlsanity.com/paper/2604.13730/) (2026)

## Abstract (arXiv)

We introduce a novel framework for Continual Learning in 3D object classification. Our approach, CL3D, is based on the selection of prototypes from each class using spectral clustering. For non-Euclidean data such as point clouds, spectral clustering can be employed as long as one can define a distance measure between pairs of samples. Choosing the appropriate distance measure enables us to leverage 3D geometric characteristics to identify representative prototypes for each class. We explore the effectiveness of clustering in the input space (3D points), local feature space (1024-dimensional points), and global feature space. We conduct experiments on the ModelNet40, ShapeNet, and ScanNet datasets, achieving state-of-the-art accuracy exclusively through the use of input space features. By leveraging the combined input, local, and global features, we have improved the state-of-the-art on ModelNet and ShapeNet, utilizing nearly half the memory used by competing approaches. For the challenging ScanNet dataset, our method enhances accuracy by 4.1% while consuming just 28% of the memory used by our competitors, demonstrating the scalability of our approach.