Self-supervised 3D point cloud understanding is crucial for scene understanding, where Masked Autoencoders (MAE) have achieved excellent performance in point cloud representation learning. However, existing MAE-style methods fail to consider spatial-semantic variations in masking strategies, and joint learning with multi-view images often overlooks view redundancy. To address these challenges, we propose an MAE framework enhanced with reliable multi-view 2D-3D Key-part alignment and Reinforced masking, named as KR-MAE. Our approach comprises three key innovations: Reinforced Masking (RM) strategically samples visible tokens based on semantic saliency to enhance reconstruction fidelity; Reliable Multi-View Selector (RVS) dynamically refines the most informative image subset by filtering occluded or low-texture views, mitigating detrimental redundancy; Reliable-view 2D-3D Key-part Aligned Transformer (KAT) establishes semantic-aligned correspondence between salient 3D point cloud parts and reliable multi-view 2D image patches, leveraging rich texture cues from 2D images to compensate for sparse geometry in point cloud. Extensive experiments on 3D classification and segmentation benchmarks demonstrate that KR-MAE achieves state-of-the-art performance, surpassing prior multi-modal methods.

Masked autoencoders have been extensively utilized in 3D point cloud self-supervised learning, where the fundamental approach involves masking a portion of the point cloud and subsequently reconstructing it. This process is hypothesized to enhance model learning by leveraging the inherent structure of the point cloud data. However, the information density within point clouds is inherently uneven, contrasting with the more uniform distributions found in language and 2D image data. This uneven distribution suggests that the application of random masking strategies, commonly adopted from NLP and 2D vision, may not be optimal for point cloud data, potentially leading to suboptimal learning outcomes. Based on this observation, we propose a simple yet effective Density-directed Masked Autoencoders for Point Cloud Self-supervised Learning (Point-DMAE), which learns latent semantic point cloud features using a density-directed masking strategy. Specifically, our method employs a dual-branch Transformer architecture to extract both high-level and fine-grained point features through global and local block density-directed masking, respectively. Point-DMAE demonstrates high pre-training efficiency and significantly outperforms our baseline (Point-MAE) on 3D object classification tasks within the ScanObjectNN dataset by 4.13% on OBJ-BG, 5.17% on OBJ-ONLY, and 4.17% on PB-T50-RS. Codes are available at https://github.com/jinxianglong10/Point-DMAE.