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I2PRef: Image-Driven Point Completion with Iterative Refinement

We present an image-conditioned point cloud completion approach that treats images as the primary geometric source rather than a secondary guide. To this end, we introduce an Image-to-Point (I2P) module that can reconstruct complete point clouds directly from a single RGB image, with no need for 3D inputs. Additionally, we introduce a transformer-based Point-to-Point (P2P) refinement module that uses self- and cross-attention between point tokens and image features to iteratively refine the coarse I2P output. The I2P module enables the image encoder to learn rich geometric representations, while the P2P module progressively recovers fine-grained details. Unlike existing multimodal methods that rely on auxiliary losses or fusion modules, our explicit I2P task provides a strong, geometry-aware prior based on images alone. Extensive experiments on ShapeNet-ViPC demonstrate state-of-the-art completion performance with a 12.3% relative Chamfer Distance improvement over prior methods. Code is available at: https://github.com/AzharSindhi/I2PRef.git

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