arXiv:2505.23044cs.CV2025-05ICCV被引 13

用稀疏图像高效重建带语义的3D场景,减少60%存储开销。

SpatialSplat: Efficient Semantic 3D from Sparse Unposed Images

  • 将语义特征分为粗粒度与细粒度双场表示,提升表达能力。
  • 通过选择性保留关键高斯点,实现60%参数量压缩。
  • 适合需要轻量化语义3D重建的应用场景。

3D重建的重大突破在于从稀疏无姿态图像中直接生成像素级3D点或高斯原型。为引入语义信息同时避免高维语义特征带来的内存与存储开销,现有方法通常将每个原型关联一个压缩的语义特征向量。然而,这些方法存在两大局限:(a) 简单压缩削弱了语义表达力,影响对细粒度语义的捕捉;(b) 像素级原型预测导致重叠区域冗余,造成不必要的内存开销。为此,我们提出SpatialSplat,一种面向冗余感知的前馈框架,利用双场语义表示。基于同一实例内原型具有高度语义一致性的洞察,我们将语义表示分解为:仅用少量原型编码未压缩粗粒度语义的特征场,以及捕捉实例间细节关系的低维精细特征场。此外,我们设计了选择性高斯机制,仅保留场景中必要的高斯点,有效消除冗余原型。SpatialSplat在学习准确语义与精细实例结构的同时,使用更紧凑的3D高斯表示,使语义3D重建更具实用性。大量实验表明,该方法在保持优于当前最优方法性能的前提下,实现了60%的场景表示参数量降低。代码已开源:https://github.com/shengyuuu/SpatialSplat.git

原文摘要 · Abstract (English)

A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate semantics while avoiding the significant memory and storage costs of high-dimensional semantic features, existing methods extend this paradigm by associating each primitive with a compressed semantic feature vector. However, these methods have two major limitations: (a) the naively compressed feature compromises expressiveness, affecting the model's ability to capture fine-grained semantics, and (b) the pixel-wise primitive prediction introduces redundancy in overlapping areas, causing unnecessary memory overhead. To this end, we introduce \textbf{SpatialSplat}, a feedforward framework that produces redundancy-aware Gaussians and capitalizes on a dual-field semantic representation. Particularly, with the insight that primitives within the same instance exhibit high semantic consistency, we decompose the semantic representation into a coarse feature field that encodes uncompressed semantics with minimal primitives, and a fine-grained yet low-dimensional feature field that captures detailed inter-instance relationships. Moreover, we propose a selective Gaussian mechanism, which retains only essential Gaussians in the scene, effectively eliminating redundant primitives. Our proposed Spatialsplat learns accurate semantic information and detailed instances prior with more compact 3D Gaussians, making semantic 3D reconstruction more applicable. We conduct extensive experiments to evaluate our method, demonstrating a remarkable 60\% reduction in scene representation parameters while achieving superior performance over state-of-the-art methods. The code is available at https://github.com/shengyuuu/SpatialSplat.git

3D重建语义建模高斯泼溅轻量化

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