ShapeFormer: Transformer-based Shape Completion via Sparse Representation

1Shenzhen University 2University College London 3Adobe Research 4Hebrew University of Jerusalem 5Tel Aviv University
Interpolation end reference image.

ShapeFormer predicts multiple completions for a real-world scan of a sports car (left column), a chair with missing parts (middle column), and a partial point cloud of human lower legs (right column).

To facilitate generative modeling, we first compress the input partial point cloud to our proposed sequence representation VQDIF (the sparse voxels in blue shades). Conditioned on the partial sequence, ShapeFormer predicts a distribution of the possible completed shapes, and their VQDIFs can be sequentially sampled from this distribution. By decoding these complete VQDIF sequences, multiple completed shapes can be extracted.


We present ShapeFormer, a transformer-based network that produces a distribution of object completions, conditioned on incomplete, and possibly noisy, point clouds. The resultant distribution can then be sampled to generate likely completions, each of which exhibits plausible shape details, while being faithful to the input.

To facilitate the use of transformers for 3D, we introduce a compact 3D representation, vector quantized deep implicit function (VQDIF), that utilizes spatial sparsity to represent a close approximation of a 3D shape by a short sequence of discrete variables.

Experiments demonstrate that ShapeFormer outperforms prior art for shape completion from ambiguous partial inputs in terms of both completion quality and diversity. We also show that our approach effectively handles a variety of shape types, incomplete patterns, and real-world scans.


Completion for real scans

We show how our model pre-trained on ShapeNet can be applied to scans of real objects. We test our model on partial point clouds converted from RGBD scans of the Redwood 3D Scans.

Interpolation end reference image.

Completion for out-of-distribution objects

Given a scan of an unseen type of shape, ShapeFormer can produce multiple reasonable completions by generalizing the knowledge learned in the training set.

Interpolation end reference image.

Comparison with previous arts on high ambiguity scans

Compared with previous methods, ShapeFormer can better handle ambiguous scans and produce completions that are more faithful on both observed and unseen regions

Interpolation end reference image.

Comparison with previous arts on low ambiguity scans

We further demonstrate our method can achieve competitive accuracy for low-ambiguity scans. Since there is limited ambiguity for such scans and the goal is to achieve accuracy toward ground truth, we put the ground truth in the first row and only sample one single completion.

Interpolation end reference image.


        title={ShapeFormer: Transformer-based Shape Completion via Sparse Representation}, 
        author={Xingguang Yan and Liqiang Lin and Niloy J. Mitra and Dani Lischinski and Danny Cohen-Or and Hui Huang},
        booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},