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arXiv Computer Vision By Linman Wang, ZiFei Zhang, Chunran Zheng, Xiwang Dong, Jiarong Lin

DIFTA-3D: Depth-Consistent Instance-Level Feature Transfer and Adaptation of DINOv3 for 3D Detection

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The paper introduces DIFTA-3D, a method that replaces the task‑specific visual branch in IIFNet3D with a frozen DINOv3 foundation model for RGB‑D 3D instance detection. It employs a depth‑consistent feature pipeline that projects points into calibrated RGB‑D frames, filters features with a metric depth‑residual check, caches accepted DINOv3 features, and aggregates them within proposal‑aligned RoI grids. Extensive experiments on ScanNetV2 show that the DINOv3 control achieves mAP scores of 76.15/60.93 at IoU thresholds 0.25/0.50, while the Conservative VAID recipe improves these to 76.59/62.16, indicating a modest gain from the proposed transfer recipe.

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