用2D检测器让3D高斯点云实现零样本指代分割,提升语义理解能力。
Open-Vocabulary and Referring Segmentation for 3D Gaussians Using 2D Detectors

- 用2D开放词汇检测器替代CLIP,直接生成3D实例语义
- 多视角聚合检测结果,提升标签可靠性,减少误分
- 支持复杂指代表达,适合机器人等真实场景应用
3D高斯溅射(3DGS)已成为3D场景重建的前沿技术。为实现语言驱动的开放词汇理解,现有方法通过将高维CLIP特征直接蒸馏至场景表示中学习实例特征并赋予语义。但这些方法的实例分组机制要么需预设实例数,要么受自底向上分组噪声影响。同时依赖CLIP限制了语义理解仅限于简单名词短语,难以支持复杂空间推理与指代表达定位。本文提出GaussDet,利用具有指代能力的离散开放词汇2D检测器,避免对密集CLIP特征的依赖。通过为每个高斯点学习实例特征,将场景分解为3D实例组;再通过渲染各组并聚合多视角2D检测的语义投票,生成每3D实例的视图聚合语义标签分布(VASD)。该策略作为强正则化,有效抑制因低质量分组导致的虚假标签。本方法可直接从简单语言查询扩展至复杂指代定位,实现零样本泛化。在两个关键任务上评估:开放词汇分割(LeRF-OVS、ScanNet)和指代表达定位(Ref-LeRF),结果表明GaussDet持续优于现有方法,尤其在严格零样本设置下,指代定位任务提升16.7% mIoU。
原文摘要 · Abstract (English)
3D Gaussian Splatting (3DGS) has emerged at the forefront of 3D scene reconstruction. Extending 3DGS with language-driven, open-vocabulary understanding has gained significant attention for real-world applications such as embodied AI. Recent methods achieve this by learning an instance feature attribute and assigning semantics by distilling high-dimensional Contrastive Language-Image Pretraining (CLIP) features directly into the scene representation. However, the instance grouping mechanisms of these methods either require a predefined number of instances or suffer from noise in their bottom-up grouping strategies. Furthermore, the reliance on CLIP restricts semantic understanding to simple noun phrases, preventing complex spatial reasoning and referential expression grounding. We present GaussDet, a method that circumvents the need for dense CLIP features by leveraging discrete, open-vocabulary 2D object detectors with referring expression capabilities. We learn instance features for individual Gaussians to decompose the scene into 3D instance groups. By rendering these groups and aggregating semantic votes from multi-view 2D detections, we generate a robust View-Aggregated Semantic Label Distribution (VASD) for each 3D instance. This view-aggregation strategy acts as a strong regularizer, attenuating spurious labels caused by low-quality instance grouping. Our approach enables a straightforward, zero-shot extension from simple language queries to complex referential grounding. Extensive evaluations across two key tasks -- open-vocabulary segmentation (LeRF-OVS, ScanNet) and referring expression grounding (Ref-LeRF) -- demonstrate that GaussDet achieves consistent improvements over existing methods. Most notably, we achieve a substantial 16.7% mIoU improvement in referential grounding within a strict zero-shot setting.
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