# M2P-AD: Memory-to-Prototype Learning with Boundary-aware Score Refinement for 3D Anomaly Detection

arXiv: https://arxiv.org/abs/2607.13499 · HTML: https://mlsanity.com/paper/2607.13499/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 21 of its 25 references that are in the map.
- First posted on arXiv 15 Jul 2026.

## Builds on (most cited first, 21 of 21)

- [Towards Total Recall in Industrial Anomaly Detection](https://mlsanity.com/paper/2106.08265/) (2021)
- [DRAEM -- A discriminatively trained reconstruction embedding for surface anomaly detection](https://mlsanity.com/paper/2108.07610/) (2021)
- [Anomaly Detection via Reverse Distillation from One-Class Embedding](https://mlsanity.com/paper/2201.10703/) (2022)
- [Improving Unsupervised Defect Segmentation by Applying Structural Similarity to Autoencoders](https://mlsanity.com/paper/1807.02011/) (2018)
- [Asymmetric Student-Teacher Networks for Industrial Anomaly Detection](https://mlsanity.com/paper/2210.07829/) (2022)
- [Real3D-AD: A Dataset of Point Cloud Anomaly Detection](https://mlsanity.com/paper/2309.13226/) (2023)
- [PyramidFlow: High-Resolution Defect Contrastive Localization using Pyramid Normalizing Flow](https://mlsanity.com/paper/2303.02595/) (2023)
- [PNI : Industrial Anomaly Detection using Position and Neighborhood Information](https://mlsanity.com/paper/2211.12634/) (2022)
- [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)
- [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)
- [TransFusion -- A Transparency-Based Diffusion Model for Anomaly Detection](https://mlsanity.com/paper/2311.09999/) (2023)
- [GLAD: Towards Better Reconstruction with Global and Local Adaptive Diffusion Models for Unsupervised Anomaly Detection](https://mlsanity.com/paper/2406.07487/) (2024)
- [PO3AD: Predicting Point Offsets toward Better 3D Point Cloud Anomaly Detection](https://mlsanity.com/paper/2412.12617/) (2024)
- [Look Inside for More: Internal Spatial Modality Perception for 3D Anomaly Detection](https://mlsanity.com/paper/2412.13461/) (2024)
- [Multi-Sensor Object Anomaly Detection: Unifying Appearance, Geometry, and Internal Properties](https://mlsanity.com/paper/2412.14592/) (2024)
- [MC3D-AD: A Unified Geometry-aware Reconstruction Model for Multi-category 3D Anomaly Detection](https://mlsanity.com/paper/2505.01969/) (2025)
- [Boosting Global-Local Feature Matching via Anomaly Synthesis for Multi-Class Point Cloud Anomaly Detection](https://mlsanity.com/paper/2505.07375/) (2025)
- [Towards High-Resolution 3D Anomaly Detection: A Scalable Dataset and Real-Time Framework for Subtle Industrial Defects](https://mlsanity.com/paper/2507.07435/) (2025)
- [Combining GANs and AutoEncoders for Efficient Anomaly Detection](https://mlsanity.com/paper/2011.08102/) (2020)
- [Registration is a Powerful Rotation-Invariance Learner for 3D Anomaly Detection](https://mlsanity.com/paper/2510.16865/) (2025)

## Abstract (arXiv)

3D anomaly detection has recently emerged as an important research topic in computer vision. Although existing methods have achieved high performance, excessive anomaly responses in normal regions and false positives near object boundaries remain unresolved challenges. To address these challenges, we propose a novel 3D anomaly detection model, Memory-to-Prototype Anomaly Detection (M2P-AD), which effectively models the distribution of normal features while suppressing excessive anomaly scores in normal regions and false positives near object boundaries. Specifically, we introduce a Memory-to-Prototype (M2P) module that learns representative prototypes from normal feature embeddings to preserve important structural information of objects. In addition, a Boundary extraction (BE) module is integrated to identify object boundaries, and a Boundary-aware score refinement (BSR) strategy is applied to recalibrate anomaly scores by incorporating boundary characteristics. The proposed method is evaluated on Real3D-AD, Anomaly-ShapeNet, and MulSen-AD, achieving state-of-the-art performance. Qualitative results demonstrate that excessive anomaly scores in normal regions are reduced and false positives near object boundaries are suppressed, resulting in more accurate and stable anomaly localization. The results indicate that the proposed approach enables more reliable 3D anomaly detection and provides a robust solution applicable to real-world industrial environments.