# Bridging 3D Anomaly Localization and Repair via High-Quality Continuous Geometric Representation

arXiv: https://arxiv.org/abs/2505.24431 · HTML: https://mlsanity.com/paper/2505.24431/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 28 of its 43 references that are in the map.
- First posted on arXiv 30 May 2025.

## Builds on (most cited first, 28 of 28)

- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [Towards Total Recall in Industrial Anomaly Detection](https://mlsanity.com/paper/2106.08265/) (2021)
- [Deep Learning for 3D Point Clouds: A Survey](https://mlsanity.com/paper/1912.12033/) (2019)
- [3DSSD: Point-based 3D Single Stage Object Detector](https://mlsanity.com/paper/2002.10187/) (2020)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [Implicit Functions in Feature Space for 3D Shape Reconstruction and Completion](https://mlsanity.com/paper/2003.01456/) (2020)
- [The MVTec 3D-AD Dataset for Unsupervised 3D Anomaly Detection and Localization](https://mlsanity.com/paper/2112.09045/) (2021)
- [Deep Industrial Image Anomaly Detection: A Survey](https://mlsanity.com/paper/2301.11514/) (2023)
- [Multimodal Industrial Anomaly Detection via Hybrid Fusion](https://mlsanity.com/paper/2303.00601/) (2023)
- [Diffusion-SDF: Conditional Generative Modeling of Signed Distance Functions](https://mlsanity.com/paper/2211.13757/) (2022)
- [Asymmetric Student-Teacher Networks for Industrial Anomaly Detection](https://mlsanity.com/paper/2210.07829/) (2022)
- [Back to the Feature: Classical 3D Features are (Almost) All You Need for 3D Anomaly Detection](https://mlsanity.com/paper/2203.05550/) (2022)
- [Real3D-AD: A Dataset of Point Cloud Anomaly Detection](https://mlsanity.com/paper/2309.13226/) (2023)
- [Learning Signed Distance Field for Multi-view Surface Reconstruction](https://mlsanity.com/paper/2108.09964/) (2021)
- [Complementary Pseudo Multimodal Feature for Point Cloud Anomaly Detection](https://mlsanity.com/paper/2303.13194/) (2023)
- [A Survey on Visual Anomaly Detection: Challenge, Approach, and Prospect](https://mlsanity.com/paper/2401.16402/) (2024)
- [Towards Scalable 3D Anomaly Detection and Localization: A Benchmark via 3D Anomaly Synthesis and A Self-Supervised Learning Network](https://mlsanity.com/paper/2311.14897/) (2023)
- [Anomaly Detection in 3D Point Clouds using Deep Geometric Descriptors](https://mlsanity.com/paper/2202.11660/) (2022)
- [NeuralUDF: Learning Unsigned Distance Fields for Multi-view Reconstruction of Surfaces with Arbitrary Topologies](https://mlsanity.com/paper/2211.14173/) (2022)
- [R3D-AD: Reconstruction via Diffusion for 3D Anomaly Detection](https://mlsanity.com/paper/2407.10862/) (2024)
- [EasyNet: An Easy Network for 3D Industrial Anomaly Detection](https://mlsanity.com/paper/2307.13925/) (2023)
- [Cheating Depth: Enhancing 3D Surface Anomaly Detection via Depth Simulation](https://mlsanity.com/paper/2311.01117/) (2023)
- [PO3AD: Predicting Point Offsets toward Better 3D Point Cloud Anomaly Detection](https://mlsanity.com/paper/2412.12617/) (2024)
- [Towards High-resolution 3D Anomaly Detection via Group-Level Feature Contrastive Learning](https://mlsanity.com/paper/2408.04604/) (2024)
- [Self-supervised Feature Adaptation for 3D Industrial Anomaly Detection](https://mlsanity.com/paper/2401.03145/) (2024)
- [Towards Zero-shot Point Cloud Anomaly Detection: A Multi-View Projection Framework](https://mlsanity.com/paper/2409.13162/) (2024)

## Built on by (most cited first, 9 of 9)

- [A Lightweight 3D Anomaly Detection Method with Rotationally Invariant Features](https://mlsanity.com/paper/2511.13115/) (2025)
- [The 3D Mirage: Probing and Taming 3D Hallucinations](https://mlsanity.com/paper/2512.15423/) (2025)
- [Open-Set Supervised 3D Anomaly Detection: An Industrial Dataset and a Generalisable Framework for Unknown Defects](https://mlsanity.com/paper/2604.01171/) (2026)
- [Breaking the Rigid Prior: Towards Articulated 3D Anomaly Detection](https://mlsanity.com/paper/2604.26868/) (2026)
- [CoGeoAD: Hierarchical Color-Geometric Fusion with Multi-View Attention for Zero-Shot 3D Anomaly Detection](https://mlsanity.com/paper/2606.25273/) (2026)
- [Point Cloud Diffusion with Global and Local Reconstruction for Instance-Level 3D Anomaly Detection](https://mlsanity.com/paper/2606.25740/) (2026)
- [Understanding and Overcoming Cross-modal Fusion Bias in Multimodal Anomaly Detection From A Fisher Information Perspective](https://mlsanity.com/paper/2608.00986/) (2026)
- [PC2-AD: Point Cloud Upsampling to Safeguard 3D Anomaly Detection with Resolution-constrained Edge Devices](https://mlsanity.com/paper/2609.14722/) (2026)
- [Towards Generalizable 3D Anomaly Detection via Relational Inconsistency Modeling](https://mlsanity.com/paper/2609.35059/) (2026)

## Abstract (arXiv)

3D point cloud anomaly detection is essential for robust vision systems but is challenged by pose variations and complex geometric anomalies. Existing patch-based methods often suffer from geometric fidelity issues due to discrete voxelization or projection-based representations, limiting fine-grained anomaly localization. We introduce Pose-Aware Signed Distance Field (PASDF), a novel framework that integrates 3D anomaly detection and repair by learning a continuous, pose-invariant shape representation. PASDF leverages a Pose Alignment Module for canonicalization and a SDF Network to dynamically incorporate pose, enabling implicit learning of high-fidelity anomaly repair templates from the continuous SDF. This facilitates precise pixel-level anomaly localization through an Anomaly-Aware Scoring Module. Crucially, the continuous 3D representation in PASDF extends beyond detection, facilitating in-situ anomaly repair. Experiments on Real3D-AD and Anomaly-ShapeNet demonstrate state-of-the-art performance, achieving high object-level AUROC scores of 80.2% and 90.0%, respectively. These results highlight the effectiveness of continuous geometric representations in advancing 3D anomaly detection and facilitating practical anomaly region repair. The code is available at https://github.com/ZZZBBBZZZ/PASDF to support further research.