CamPoint 📷

This repository is the official implementation of the paper:

[CVPR 2025] CamPoint: Boosting Point Cloud Segmentation with Virtual Camera.

TL;DR: The CamPoint employs Camera Visibility Feature(CVF) to encode points as feature vector via virtual cameras, representing the visibility from multiple camera views. Mainly works include:

• Camera Perspective Slice Distance(CPSD): Identifies semantically related neighbors rather than just spatially closest points to enhance local feature aggregation.
• Camera Parameter Embedding(CPE): Integrates camera prior features into point representations to enhance global information perception.

The CamPoint achieves SOTA performance on multiple datasets (e.g., 83.3% mIoU on S3DIS, without any spacial strategies like voting, pre-training, or joint training), with fewer parameters, lower training costs, and faster inference speed.

Usage Guide

Setup python environment: SETUP.md

Train and test datasets:

• ModelNet40
• S3DIS
• ScanNetV2
• ScanObjectNN
• ShapeNetPart

Model Zoo

• checkpoints and train logs: https://huggingface.co/MTXAI/CamPoint/tree/main/exp
• tensorboard: https://huggingface.co/MTXAI/CamPoint/tensorboard

Citation

If you find CamPoint method or codebase useful, please cite:

@InProceedings{Zhang_2025_CVPR,
    author    = {Zhang, Jianhui and Luo, Yizhi and Zhang, Zicheng and Nie, Xuecheng and Li, Bonan},
    title     = {CamPoint: Boosting Point Cloud Segmentation with Virtual Camera},
    booktitle = {Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR)},
    month     = {June},
    year      = {2025},
    pages     = {11822-11832}
}

Acknowledgments

• PointNext: https://github.com/guochengqian/PointNeXt
• mamba: https://github.com/state-spaces/mamba
• DeLA: https://github.com/Matrix-ASC/DeLA
• msplat: https://github.com/pointrix-project/msplat
• gaussian-splatting: https://github.com/graphdeco-inria/gaussian-splatting
• pytorch3d: https://pytorch3d.org/
• kiui: https://kit.kiui.moe/