# SurfR: Surface Reconstruction with Multi-scale Attention

arXiv: https://arxiv.org/abs/2506.08635 · HTML: https://mlsanity.com/paper/2506.08635/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 41 of its 57 references that are in the map.
- First posted on arXiv 10 Jun 2025.

## Builds on (most cited first, 30 of 41)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (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)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Fast Graph Representation Learning with PyTorch Geometric](https://mlsanity.com/paper/1903.02428/) (2019)
- [Implicit Neural Representations with Periodic Activation Functions](https://mlsanity.com/paper/2006.09661/) (2020)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [Spatial Transformer Networks](https://mlsanity.com/paper/1506.02025/) (2015)
- [Efficient Geometry-aware 3D Generative Adversarial Networks](https://mlsanity.com/paper/2112.07945/) (2021)
- [PIFu: Pixel-Aligned Implicit Function for High-Resolution Clothed Human Digitization](https://mlsanity.com/paper/1905.05172/) (2019)
- [Convolutional Occupancy Networks](https://mlsanity.com/paper/2003.04618/) (2020)
- [Pixel2Mesh: Generating 3D Mesh Models from Single RGB Images](https://mlsanity.com/paper/1804.01654/) (2018)
- [AtlasNet: A Papier-Mach'e Approach to Learning 3D Surface Generation](https://mlsanity.com/paper/1802.05384/) (2018)
- [Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Shapes](https://mlsanity.com/paper/2101.10994/) (2021)
- [DeepVoxels: Learning Persistent 3D Feature Embeddings](https://mlsanity.com/paper/1812.01024/) (2018)
- [Local Implicit Grid Representations for 3D Scenes](https://mlsanity.com/paper/2003.08981/) (2020)
- [Implicit Functions in Feature Space for 3D Shape Reconstruction and Completion](https://mlsanity.com/paper/2003.01456/) (2020)
- [ABC: A Big CAD Model Dataset For Geometric Deep Learning](https://mlsanity.com/paper/1812.06216/) (2018)
- [Deep Local Shapes: Learning Local SDF Priors for Detailed 3D Reconstruction](https://mlsanity.com/paper/2003.10983/) (2020)
- [Shape As Points: A Differentiable Poisson Solver](https://mlsanity.com/paper/2106.03452/) (2021)
- [Thingi10K: A Dataset of 10,000 3D-Printing Models](https://mlsanity.com/paper/1605.04797/) (2016)
- [Points2Surf: Learning Implicit Surfaces from Point Cloud Patches](https://mlsanity.com/paper/2007.10453/) (2020)
- [Neural Kernel Surface Reconstruction](https://mlsanity.com/paper/2305.19590/) (2023)
- [POCO: Point Convolution for Surface Reconstruction](https://mlsanity.com/paper/2201.01831/) (2022)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [SG-NN: Sparse Generative Neural Networks for Self-Supervised Scene Completion of RGB-D Scans](https://mlsanity.com/paper/1912.00036/) (2019)

## Abstract (arXiv)

We propose a fast and accurate surface reconstruction algorithm for unorganized point clouds using an implicit representation. Recent learning methods are either single-object representations with small neural models that allow for high surface details but require per-object training or generalized representations that require larger models and generalize to newer shapes but lack details, and inference is slow. We propose a new implicit representation for general 3D shapes that is faster than all the baselines at their optimum resolution, with only a marginal loss in performance compared to the state-of-the-art. We achieve the best accuracy-speed trade-off using three key contributions. Many implicit methods extract features from the point cloud to classify whether a query point is inside or outside the object. First, to speed up the reconstruction, we show that this feature extraction does not need to use the query point at an early stage (lazy query). Second, we use a parallel multi-scale grid representation to develop robust features for different noise levels and input resolutions. Finally, we show that attention across scales can provide improved reconstruction results.