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| Main Authors: | , , , |
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| Format: | Preprint |
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2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.03370 |
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| _version_ | 1866914462370365440 |
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| author | Zhao, Lingjun Luo, Yandong Hays, James Gan, Lu |
| author_facet | Zhao, Lingjun Luo, Yandong Hays, James Gan, Lu |
| contents | We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and computational efficiency across a wide range of scene understanding tasks. However, existing methods either model objects as closed-set semantic Gaussians supervised by annotated 3D labels, neglecting their rendering ability, or learn open-set Gaussian representations via purely 2D self-supervision, leading to degraded geometry and limited to camera-only settings. To fully exploit the potential of Gaussians, we propose a Multi-Modal Gaussian Transformer that enables Gaussians to query features from diverse sensor modalities, and a Shelf-Supervised Learning Paradigm that efficiently optimizes Gaussians with VFM features jointly at 2D image and 3D scene levels. We evaluate ShelfGaussian on various perception and planning tasks. Experiments on Occ3D-nuScenes demonstrate its state-of-the-art zero-shot semantic occupancy prediction performance. ShelfGaussian is further evaluated on an unmanned ground vehicle (UGV) to assess its in the-wild performance across diverse urban scenarios. Project website: https://lunarlab-gatech.github.io/ShelfGaussian/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_03370 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ShelfGaussian: Shelf-Supervised Open-Vocabulary Gaussian-based 3D Scene Understanding Zhao, Lingjun Luo, Yandong Hays, James Gan, Lu Computer Vision and Pattern Recognition We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and computational efficiency across a wide range of scene understanding tasks. However, existing methods either model objects as closed-set semantic Gaussians supervised by annotated 3D labels, neglecting their rendering ability, or learn open-set Gaussian representations via purely 2D self-supervision, leading to degraded geometry and limited to camera-only settings. To fully exploit the potential of Gaussians, we propose a Multi-Modal Gaussian Transformer that enables Gaussians to query features from diverse sensor modalities, and a Shelf-Supervised Learning Paradigm that efficiently optimizes Gaussians with VFM features jointly at 2D image and 3D scene levels. We evaluate ShelfGaussian on various perception and planning tasks. Experiments on Occ3D-nuScenes demonstrate its state-of-the-art zero-shot semantic occupancy prediction performance. ShelfGaussian is further evaluated on an unmanned ground vehicle (UGV) to assess its in the-wild performance across diverse urban scenarios. Project website: https://lunarlab-gatech.github.io/ShelfGaussian/. |
| title | ShelfGaussian: Shelf-Supervised Open-Vocabulary Gaussian-based 3D Scene Understanding |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2512.03370 |