SAGE3D: Soft-guided attention and graph excitation for 3D point cloud corner detection

ArXi:2605.15088v1 Announce Type: new We present SAGE3D, a hybrid Transformer-based model for corner detection in airborne LiDAR point clouds. We propose a multi-stage solution built on a hierarchical encoder-decoder architecture that progressively downsamples point clouds through Set Abstraction layers and recovers per-point predictions via Feature Propagation. We