The paper introduces a privacy‑preserving approach to open‑vocabulary 3D semantic segmentation that operates solely on depth data, eliminating the use of RGB images to avoid disclosing scene‑specific visual information. It proposes a stricter depth‑only evaluation protocol and presents UTTO, a model‑agnostic uncertainty‑guided test‑time optimization framework that refines predictions from frozen open‑vocabulary 3D backbones using structured predictive uncertainty. Experiments on ScanNet and Matterport3D show consistent improvements, and additional analyses demonstrate the method’s relevance for privacy‑constrained robotic applications.
By Xuying Huang, Sicong Pan, Maren Bennewitz
arXiv:2605.13018v2 Announce Type: replace
Abstract: Object-centric scene understanding is a fundamental challenge in computer vision. Existing approaches often rely on multi-stage pipelines that firs...
By Yi Du, Yang You, Xiang Wan, Leonidas Guibas
arXiv:2503. 19947v2 Announce Type: replace-cross Abstract: Generalized metric depth understanding is critical for precise vision-guided robotics, which current state-of-the-art (SOTA) vision-encoders do not support.
By Paul Koch, J\"org Kr\"uger
GaussianDS introduces a depth‑supervised framework for 3D Gaussian Splatting that jointly optimizes RGB appearance, depth, and compact semantics from scratch. By arranging multi‑view images into a pose‑aware pseudo‑video and propagating view‑consistent masks via SAM2, the method aligns semantic lifting with geometric cues, using depth supervision and edge‑aware refinement to curb semantic drift and boundary leakage. The approach achieves state‑of‑the‑art performance on LERF and 3D‑OVS benchmarks while preserving high‑fidelity reconstruction and enabling downstream tasks such as 3D object removal.
By Yufei Zhang, Chenlu Zhan, Hongwei Wang
arXiv:2506. 11585v2 Announce Type: replace-cross Abstract: We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities.
By Juno Kim, Yesol Park, Hye-Jung Yoon, Byoung-Tak Zhang
arXiv:2608.21136v1 Announce Type: new
Abstract: Recently, open-vocabulary zero-shot 3D scene understanding using vision foundation models has emerged as a promising alternative to data-intensive supe...
By Jie Xu, Na Zhao
arXiv:2510. 11014v2 Announce Type: replace-cross Abstract: Autonomous robots often view rooms only partially, through a doorway, where the walls and scene structure hide the geometry and task-relevant semantics needed for safe navigation and goal-directed action.
By Subhransu S. Bhattacharjee, Hao Lu, Dylan Campbell, Rahul Shome
RGBD20K is a new large-scale RGB‑D semantic segmentation dataset featuring 20,000 image pairs and 160 fine‑grained categories, surpassing existing benchmarks like NYUv2 and SUN RGB‑D in both scale and semantic diversity. The dataset provides high‑fidelity annotations obtained through rigorous re‑evaluation and correction of prior labels, ensuring a clean ground‑truth foundation. Additionally, the authors introduce a score‑purified fusion (SPF) method that achieves state‑of‑the‑art performance across evaluated benchmarks, demonstrating the value of high‑quality multimodal information.
By Shaohua Dong, Zexuan Meng, Haiyan Sun, Bing Fan, Cuicui Zhang, Dylan Joseph, Kewei Sha, Yunhe Feng, Heng Fan
RGBD20K is a new large-scale RGB‑D dataset designed to advance semantic segmentation research. It contains 20,000 image pairs annotated with 160 fine‑grained categories, far exceeding the diversity of existing benchmarks such as NYUv2 and SUN RGB‑D. The authors also provide high‑fidelity annotations and introduce a score‑purified fusion (SPF) method that achieves state‑of‑the‑art results on multiple benchmarks.
arXiv:2606. 31919v1 Announce Type: cross Abstract: Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agents, as the absence of explicit depth information introduces severe physical uncertainty and semantic-physical misalignment.
By Wenyuan Xie, Shaokai Wu, Yijin Zhou, Yanbiao Ji, Guodong Zhang, Bayram Bayramli, Qiuchang Li, Xunchu Zhou, Yue Ding, Hongtao Lu
arXiv:2609.37264v1 Announce Type: cross
Abstract: Affordance perception aims to localize actionable regions supporting embodied interaction, yet 2D and 3D affordance grounding have evolved as separat...
By Yuhao Liu, Yiming Zhong, Hanqing Wang, Shaocheng Yan, Yuhang Zhang, Wenzhou Lyu, Ziyang Ding, Wei Zhang, Xue Zhao, Jin Pan, Yuexin Ma, Xinge Zhu
arXiv:2601. 22054v2 Announce Type: replace-cross Abstract: Scaling has powered recent advances in vision foundation models, yet extending this paradigm to metric depth estimation remains challenging due to heterogeneous sensor noise, camera-dependent biases, and metric ambiguity in noisy cross-source 3D data.
By Baorui Ma, Jiahui Yang, Donglin Di, Xuancheng Zhang, Jianxun Cui, Hao Li, Yan Xie, Wei Chen