FAHNet: Accurate and Robust Normal Estimation for Point Clouds via Frequency‐Aware Hierarchical Geometry

Abstract Point cloud normal estimation underpins many 3D vision and graphics applications. Precise normal estimation in regions of sharp curvature and high‐frequency variation remains a major bottleneck; existing learning‐based methods still struggle to isolate fine geometry details under noise and uneven sampling. We present FAHNet, a novel frequency‐aware hierarchical network that precisely tackles those challenges. Our Frequency‐Aware Hierarchical Geometry (FAHG) feature extraction module selectively amplifies and merges cross‐scale cues, ensuring that both fine‐grained local features and sharp structures are faithfully represented. Crucially, a dedicated Frequency‐Aware geometry enhancement (FA) branch intensifies sensitivity to abrupt normal transitions and sharp features, preventing the common over‐smoothing limitation. Extensive experiments on synthetic benchmarks (PCPNet, FamousShape) and real‐world scans (SceneNN) demonstrate that FAHNet outperforms state‐of‐the‐art approaches in normal estimation accuracy. Ablation studies further quantify the contribution of each component, and downstream surface reconstruction results validate the practical impact of our design.