The automatic detection of surface-level irregularities—defects or anomalies—in 3D data is of significant interest for various real-world purposes, such as industrial quality inspection, infrastructure monitoring, robotics, and autonomous systems. However, collecting annotated defect examples at a large scale is costly, and existing 3D anomaly detection methods either require templates or heavy memory, multiple inference passes, and brittle heuristic clustering. These shortcomings limit real-life deployment.
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