# Noise-Injected Spiking Graph Convolution for Energy-Efficient 3D Point Cloud Denoising

arXiv: https://arxiv.org/abs/2502.19660 · HTML: https://mlsanity.com/paper/2502.19660/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 26 references that are in the map.
- First posted on arXiv 27 Feb 2025.

## Builds on (most cited first, 14 of 14)

- [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)
- [Incorporating Learnable Membrane Time Constant to Enhance Learning of Spiking Neural Networks](https://mlsanity.com/paper/2007.05785/) (2020)
- [Direct Training for Spiking Neural Networks: Faster, Larger, Better](https://mlsanity.com/paper/1809.05793/) (2018)
- [PU-Net: Point Cloud Upsampling Network](https://mlsanity.com/paper/1801.06761/) (2018)
- [Spiking-YOLO: Spiking Neural Network for Energy-Efficient Object Detection](https://mlsanity.com/paper/1903.06530/) (2019)
- [SpikingJelly: An open-source machine learning infrastructure platform for spike-based intelligence](https://mlsanity.com/paper/2310.16620/) (2023)
- [DensePoint: Learning Densely Contextual Representation for Efficient Point Cloud Processing](https://mlsanity.com/paper/1909.03669/) (2019)
- [PointCleanNet: Learning to Denoise and Remove Outliers from Dense Point Clouds](https://mlsanity.com/paper/1901.01060/) (2019)
- [Score-Based Point Cloud Denoising](https://mlsanity.com/paper/2107.10981/) (2021)
- [Differentiable Manifold Reconstruction for Point Cloud Denoising](https://mlsanity.com/paper/2007.13551/) (2020)
- [Pointfilter: Point Cloud Filtering via Encoder-Decoder Modeling](https://mlsanity.com/paper/2002.05968/) (2020)
- [Spiking PointNet: Spiking Neural Networks for Point Clouds](https://mlsanity.com/paper/2310.06232/) (2023)
- [IterativePFN: True Iterative Point Cloud Filtering](https://mlsanity.com/paper/2304.01529/) (2023)

## Built on by (most cited first, 2 of 2)

- [Edge Intelligence with Spiking Neural Networks](https://mlsanity.com/paper/2507.14069/) (2025)
- [A Survey of Deep Learning-based Point Cloud Denoising](https://mlsanity.com/paper/2508.17011/) (2025)

## Abstract (arXiv)

Spiking neural networks (SNNs), inspired by the spiking computation paradigm of the biological neural systems, have exhibited superior energy efficiency in 2D classification tasks over traditional artificial neural networks (ANNs). However, the regression potential of SNNs has not been well explored, especially in 3D point cloud processing. In this paper, we propose noise-injected spiking graph convolutional networks to leverage the full regression potential of SNNs in 3D point cloud denoising. Specifically, we first emulate the noise-injected neuronal dynamics to build noise-injected spiking neurons. On this basis, we design noise-injected spiking graph convolution for promoting disturbance-aware spiking representation learning on 3D points. Starting from the spiking graph convolution, we build two SNN-based denoising networks. One is a purely spiking graph convolutional network, which achieves low accuracy loss compared with some ANN-based alternatives, while resulting in significantly reduced energy consumption on two benchmark datasets, PU-Net and PC-Net. The other is a hybrid architecture that combines ANN-based learning with a high performance-efficiency trade-off in just a few time steps. Our work lights up SNN's potential for 3D point cloud denoising, injecting new perspectives of exploring the deployment on neuromorphic chips while paving the way for developing energy-efficient 3D data acquisition devices.