HSurf-Net: Normal Estimation for 3D Point Clouds by Learning Hyper Surfaces

Qing Li, Yu Shen Liu, Jin San Cheng, Cheng Wang, Yi Fang, Zhizhong Han

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We propose a novel normal estimation method called HSurf-Net, which can accurately predict normals from point clouds with noise and density variations. Previous methods focus on learning point weights to fit neighborhoods into a geometric surface approximated by a polynomial function with a predefined order, based on which normals are estimated. However, fitting surfaces explicitly from raw point clouds suffers from overfitting or underfitting issues caused by inappropriate polynomial orders and outliers, which significantly limits the performance of existing methods. To address these issues, we introduce hyper surface fitting to implicitly learn hyper surfaces, which are represented by multi-layer perceptron (MLP) layers that take point features as input and output surface patterns in a high dimensional feature space. We introduce a novel space transformation module, which consists of a sequence of local aggregation layers and global shift layers, to learn an optimal feature space, and a relative position encoding module to effectively convert point clouds into the learned feature space. Our model learns hyper surfaces from the noise-less features and directly predicts normal vectors. We jointly optimize the MLP weights and module parameters in a data-driven manner to make the model adaptively find the most suitable surface pattern for various points. Experimental results show that our HSurf-Net achieves the state-of-the-art performance on the synthetic shape dataset, the real-world indoor and outdoor scene datasets. The code, data and pretrained models are publicly available at https://github.com/LeoQLi/HSurf-Net.

Original languageEnglish (US)
Title of host publicationAdvances in Neural Information Processing Systems 35 - 36th Conference on Neural Information Processing Systems, NeurIPS 2022
EditorsS. Koyejo, S. Mohamed, A. Agarwal, D. Belgrave, K. Cho, A. Oh
PublisherNeural information processing systems foundation
ISBN (Electronic)9781713871088
StatePublished - 2022
Event36th Conference on Neural Information Processing Systems, NeurIPS 2022 - New Orleans, United States
Duration: Nov 28 2022Dec 9 2022

Publication series

NameAdvances in Neural Information Processing Systems
ISSN (Print)1049-5258


Conference36th Conference on Neural Information Processing Systems, NeurIPS 2022
Country/TerritoryUnited States
CityNew Orleans

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems
  • Signal Processing


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