DGSG-Mind introduces a hybrid instance-aware 3D Gaussian dynamic scene graph system that integrates open‑vocabulary semantic information into dynamic 3D scene representations. By coupling a probabilistic voxel grid with explicit 3D Gaussians, it achieves robust cross‑modal instance fusion, incremental semantic mapping, and dynamic change handling through Gaussian‑based relocalization and masked refinement. The system builds a hierarchical scene graph and a 3D Gaussian Mind for multimodal reasoning, achieving state‑of‑the‑art zero‑shot 3D visual grounding and strong performance in open‑vocabulary semantic segmentation and scene reconstruction, and is demonstrated on real‑world robots.
By Luzhou Ge, Xiangyu Zhu, Jinyan Liu, Xuesong Li
arXiv:2604.09045v2 Announce Type: replace
Abstract: Recent works on 3D scene understanding leverage 2D masks from visual foundation models (VFMs) to supervise radiance fields, enabling instance-level...
By Tsuheng Hsu, Guiyu Liu, Juho Kannala, Janne Heikkil\"a
arXiv:2610.33868v1 Announce Type: new
Abstract: Language-aware 3D Gaussian Splatting (3DGS) has advanced language-driven 3D scene understanding by incorporating semantic and relational cues into reco...
By Seongjun Choi, Sangyoun Lee
PointGauss is a 3D-native framework that performs semantic parsing and instance segmentation on 3D Gaussian splatting representations by treating Gaussian primitives as unstructured point sets and extracting scale‑invariant geometric features with Point Transformer V3. It introduces an adaptive region‑of‑interest cropping strategy and an instance‑aware distance‑constrained rasterization pipeline to enable scalable, view‑consistent pixel‑level projections. The authors also release SplatSeg‑360, a cross‑scale benchmark with 32 complex scenes and over 6,300 aligned 2D‑3D masks, and show that PointGauss achieves real‑time performance with state‑of‑the‑art 3D‑mIoU (~90%) and 2D‑mIoU (~80%) scores.
By Wentao Sun, Yiping Chen, John S. Zelek, Jonathan Li
arXiv:2607. 00889v1 Announce Type: cross Abstract: We present DeWorldSG, a novel framework that generates spatio-temporally robust 3D Semantic Scene Graphs from RGB-D sequences.
By Seok-Young Kim, Abdelrahman Elskhawy, Taewook Ha, Dooyoung Kim, Eunjae Shin, Benjamin Busam, Woontack Woo
arXiv:2506.17545v2 Announce Type: replace
Abstract: Large language models are increasingly being applied to 3D scene understanding. However, existing 3D-aware LLMs largely operate as black boxes: the...
By Junjie Wang, Zhihao Yuan, Shuyi Jiang, Chun-Mei Feng, Yaolun Zhang, Shuguang Cui, Zhen Li, Na Zhao
arXiv:2610.07569v1 Announce Type: cross
Abstract: Dense 3D mapping with semantic understanding is essential for robotic perception in complex environments. Recent 3D Gaussian Splatting-based mapping...
By Binh Long Nguyen, Kien Nguyen, Clinton Fookes, Peyman Moghadam
arXiv:2603.25165v3 Announce Type: replace
Abstract: Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Ex...
By Bin Yang, Mohamed Abdelsamad, Miao Zhang, Alexandru Paul Condurache
PanoBench is a new camera‑centric benchmark for panoptic occupancy prediction that unifies 3D geometry, semantics, and instance identities across synthetic and real‑world driving scenes. It combines three datasets—PanoBench‑CarlaOcc, PanoBench‑nuScenes, and PanoBench‑KITTI360—through canonical interfaces and unified evaluation protocols, providing multi‑resolution annotations with persistent instance identities. The benchmark introduces a novel reconstruction pipeline for real‑world data, a unified valid‑mask protocol, and analyses of observation fidelity, geometric completeness, spatial continuity, and temporal consistency, while also benchmarking methods on semantic, panoptic, and 4D occupancy forecasting.
whyItMatters":"PanoBench addresses the scarcity of instance‑aware annotations in panoptic occupancy research by offering comprehensive, high‑quality annotations and evaluation protocols that enable more robust development and comparison of autonomous driving perception methods."
By Yi Feng, Zizhan Guo, Junwu E, Yu Ma, Mengtan Zhang, Jin Wu, Wei Ye, Hanli Wang, Qijun Chen, Danwei Wang, Rui Fan
arXiv:2606. 29786v2 Announce Type: replace Abstract: 3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments.
By Yirum Kim, Ue-Hwan Kim
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:2610.34093v1 Announce Type: new
Abstract: Open-vocabulary 3D occupancy prediction is important for embodied agents operating in complex environments whose semantic categories extend beyond fixe...
By Changqing Zhou, Yueru Luo, Han Zhang, Zeyu Jiang, Changhao Chen