Despite significant progress in point cloud upsampling, most existing methods rely heavily on supervised training with paired data, which are often difficult to acquire. Moreover, the inherent lack of explicit connectivity in point clouds makes it difficult to achieve both continuous and uniform densification while accurately recovering fine geometric structures. To address these problems, we propose an upsampling model that treats this task as saliency-aware implicit surface sampling, enabling self-supervised and fine-grained point densification. Central to our idea is correlating implicit surface reconstruction with salient point identification, and carrying out sampling on the saliency-aware surface representation. Motivated by this, we introduce a salient point detector along with a corresponding implicit surface-based interpolator, and a geometry filter, upon which we develop a three-stage architecture consisting of a pre-trained saliency guidance block, a saliency-aware enhancer, and an upsampler. The guidance block captures meaningful shape patterns to prevent detail loss and incomplete recovery, while the enhancer facilitates detail enhancement in complex salient regions. These components are integrated with the upsampler to generate dense results that accurately retain both global shape and meticulous structures. In comparison with state-of-the-art methods, our model significantly improves the upsampling quality. Extensive experiments conducted on various datasets, comprising both synthetic and real-world captured shapes, demonstrate the flexibility and availability of our method in processing the point clouds across different scales and distributions.
Liu et al. (2026) studied this question.