# Enhancing 3D Point Cloud Classification with ModelNet-R and Point-SkipNet

arXiv: https://arxiv.org/abs/2509.05198 · HTML: https://mlsanity.com/paper/2509.05198/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 44 references that are in the map.
- First posted on arXiv 5 Sep 2025.

## Builds on (most cited first, 22 of 22)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [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)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [PCT: Point cloud transformer](https://mlsanity.com/paper/2012.09688/) (2020)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data](https://mlsanity.com/paper/1908.04616/) (2019)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [Walk in the Cloud: Learning Curves for Point Clouds Shape Analysis](https://mlsanity.com/paper/2105.01288/) (2021)
- [Deep Learning for LiDAR Point Clouds in Autonomous Driving: A Review](https://mlsanity.com/paper/2005.09830/) (2020)
- [Deep Learning for Image and Point Cloud Fusion in Autonomous Driving: A Review](https://mlsanity.com/paper/2004.05224/) (2020)
- [Attention-based Point Cloud Edge Sampling](https://mlsanity.com/paper/2302.14673/) (2023)
- [Parameter is Not All You Need: Starting from Non-Parametric Networks for 3D Point Cloud Analysis](https://mlsanity.com/paper/2303.08134/) (2023)
- [Point-GN: A Non-Parametric Network Using Gaussian Positional Encoding for Point Cloud Classification](https://mlsanity.com/paper/2412.03056/) (2024)
- [Projection-based Point Convolution for Efficient Point Cloud Segmentation](https://mlsanity.com/paper/2202.01991/) (2022)
- [Discovering New Shadow Patterns for Black-Box Attacks on Lane Detection of Autonomous Vehicles](https://mlsanity.com/paper/2409.18248/) (2024)
- [Point-LN: A Lightweight Framework for Efficient Point Cloud Classification Using Non-Parametric Positional Encoding](https://mlsanity.com/paper/2501.14238/) (2025)

## Built on by (most cited first, 3 of 3)

- [NPNet: A Non-Parametric Network with Adaptive Gaussian-Fourier Positional Encoding for 3D Classification and Segmentation](https://mlsanity.com/paper/2602.00542/) (2026)
- [SLNet: A Super-Lightweight Geometry-Adaptive Network for 3D Point Cloud Recognition](https://mlsanity.com/paper/2603.07454/) (2026)
- [Synthetic LiDAR Data Generation and Deterministic Downsampling for Point Cloud Classification on the Edge](https://mlsanity.com/paper/2608.07106/) (2026)

## Abstract (arXiv)

The classification of 3D point clouds is crucial for applications such as autonomous driving, robotics, and augmented reality. However, the commonly used ModelNet40 dataset suffers from limitations such as inconsistent labeling, 2D data, size mismatches, and inadequate class differentiation, which hinder model performance. This paper introduces ModelNet-R, a meticulously refined version of ModelNet40 designed to address these issues and serve as a more reliable benchmark. Additionally, this paper proposes Point-SkipNet, a lightweight graph-based neural network that leverages efficient sampling, neighborhood grouping, and skip connections to achieve high classification accuracy with reduced computational overhead. Extensive experiments demonstrate that models trained in ModelNet-R exhibit significant performance improvements. Notably, Point-SkipNet achieves state-of-the-art accuracy on ModelNet-R with a substantially lower parameter count compared to contemporary models. This research highlights the crucial role of dataset quality in optimizing model efficiency for 3D point cloud classification. For more details, see the code at: https://github.com/m-saeid/ModeNetR_PointSkipNet.