# Noise2Score3D: Tweedie's Approach for Unsupervised Point Cloud Denoising

arXiv: https://arxiv.org/abs/2503.09283 · HTML: https://mlsanity.com/paper/2503.09283/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 55 references that are in the map.
- First posted on arXiv 12 Mar 2025.

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

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [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)
- [Generative Modeling by Estimating Gradients of the Data Distribution](https://mlsanity.com/paper/1907.05600/) (2019)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [Diffusion Models: A Comprehensive Survey of Methods and Applications](https://mlsanity.com/paper/2209.00796/) (2022)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [Accelerating 3D Deep Learning with PyTorch3D](https://mlsanity.com/paper/2007.08501/) (2020)
- [Noise2Noise: Learning Image Restoration without Clean Data](https://mlsanity.com/paper/1803.04189/) (2018)
- [Noise2Void - Learning Denoising from Single Noisy Images](https://mlsanity.com/paper/1811.10980/) (2018)
- [Noise2Self: Blind Denoising by Self-Supervision](https://mlsanity.com/paper/1901.11365/) (2019)
- [Learning Gradient Fields for Shape Generation](https://mlsanity.com/paper/2008.06520/) (2020)
- [PU-Net: Point Cloud Upsampling Network](https://mlsanity.com/paper/1801.06761/) (2018)
- [Neighbor2Neighbor: Self-Supervised Denoising from Single Noisy Images](https://mlsanity.com/paper/2101.02824/) (2021)
- [Fast and Accurate Image Super-Resolution with Deep Laplacian Pyramid Networks](https://mlsanity.com/paper/1710.01992/) (2017)
- [Noise2Score: Tweedie's Approach to Self-Supervised Image Denoising without Clean Images](https://mlsanity.com/paper/2106.07009/) (2021)
- [PointCleanNet: Learning to Denoise and Remove Outliers from Dense Point Clouds](https://mlsanity.com/paper/1901.01060/) (2019)
- [PCPNET: Learning Local Shape Properties from Raw Point Clouds](https://mlsanity.com/paper/1710.04954/) (2017)
- [Score-Based Point Cloud Denoising](https://mlsanity.com/paper/2107.10981/) (2021)
- [Total Denoising: Unsupervised Learning of 3D Point Cloud Cleaning](https://mlsanity.com/paper/1904.07615/) (2019)
- [Differentiable Manifold Reconstruction for Point Cloud Denoising](https://mlsanity.com/paper/2007.13551/) (2020)
- [3D Point Cloud Denoising using Graph Laplacian Regularization of a Low Dimensional Manifold Model](https://mlsanity.com/paper/1803.07252/) (2018)
- [IterativePFN: True Iterative Point Cloud Filtering](https://mlsanity.com/paper/2304.01529/) (2023)
- [Deep Point Set Resampling via Gradient Fields](https://mlsanity.com/paper/2111.02045/) (2021)
- [3D Point Cloud Denoising via Deep Neural Network based Local Surface Estimation](https://mlsanity.com/paper/1904.04427/) (2019)
- [AR-DAE: Towards Unbiased Neural Entropy Gradient Estimation](https://mlsanity.com/paper/2006.05164/) (2020)
- [PCDNF: Revisiting Learning-based Point Cloud Denoising via Joint Normal Filtering](https://mlsanity.com/paper/2209.00798/) (2022)
- [Unsupervised Image Denoising with Score Function](https://mlsanity.com/paper/2304.08384/) (2023)
- [Deep Learning for 3D Point Cloud Enhancement: A Survey](https://mlsanity.com/paper/2411.00857/) (2024)

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

- [NoiseSDF2NoiseSDF: Learning Clean Neural Fields from Noisy Supervision](https://mlsanity.com/paper/2507.13595/) (2025)
- [A Survey of Deep Learning-based Point Cloud Denoising](https://mlsanity.com/paper/2508.17011/) (2025)
- [SIMPC: Learning Self-Induced Mirror-Point Consistency for Unsupervised Point Cloud Denoising](https://mlsanity.com/paper/2605.26894/) (2026)
- [RODR: Riemannian Orthogonally Decoupled Regularization for Disentangled Manifold Representation](https://mlsanity.com/paper/2607.23958/) (2026)

## Abstract (arXiv)

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising. Noise2Score3D learns the score function of the underlying point cloud distribution directly from noisy data, eliminating the need for clean data during training. Using Tweedie's formula, our method performs denoising in a single step, avoiding the iterative processes used in existing unsupervised methods, thus improving both accuracy and efficiency. Additionally, we introduce Total Variation for Point Clouds as a denoising quality metric, which allows for the estimation of unknown noise parameters. Experimental results demonstrate that Noise2Score3D achieves state-of-the-art performance on standard benchmarks among unsupervised learning methods in Chamfer distance and point-to-mesh metrics. Noise2Score3D also demonstrates strong generalization ability beyond training datasets. Our method, by addressing the generalization issue and challenge of the absence of clean data in learning-based methods, paves the way for learning-based point cloud denoising methods in real-world applications.