OP2GS: Object-Aware 3D Gaussian Splatting with Dual-Opacity Primitives
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arXiv
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| Format: | Preprint |
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2026
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| author | Liu, Guiyu Vaara, Niklas Mustaniemi, Janne Kannala, Juho Heikkilä, Janne |
| author_facet | Liu, Guiyu Vaara, Niklas Mustaniemi, Janne Kannala, Juho Heikkilä, Janne |
| contents | 3D Gaussian Splatting (3DGS) provides an explicit and efficient scene representation, but its primitives lack inherent object-level identity, hindering downstream tasks such as open-vocabulary scene understanding. Existing methods typically address this by either distilling high-dimensional feature embeddings into Gaussians or by lifting 2D mask labels into 3D via heuristic refinement. However, feature-based approaches incur heavy storage and decoding overhead, while lifting-based pipelines remain vulnerable to label contamination: Gaussians necessary for appearance reconstruction often receive incorrect object labels during 2D-to-3D projection. We propose OP2GS, an object-aware Gaussian representation that augments each primitive with an explicit instance identity and a dedicated instance opacity $σ^{*}$ for object-mask rendering. The original opacity $σ$ remains responsible for visual reconstruction, while $σ^{*}$ models whether a Gaussian should contribute to a particular object mask. This dual-opacity formulation decouples visual existence from instance occupancy: mislabeled Gaussians can remain available for image rendering while becoming transparent in the object-mask branch. To learn this representation, we introduce a random object loss that optimizes the 1D instance occupancy field using the standard transmittance-based visibility of 3DGS. Semantic descriptors are then attached at the object level through multi-view aggregation, eliminating per-Gaussian feature storage. Compared with feature-training approaches, OP2GS achieves competitive open-vocabulary performance while significantly reducing computational overhead. Compared with training-free pipelines, it leverages physically consistent occupancy learning to resolve visibility ambiguities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_20044 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | OP2GS: Object-Aware 3D Gaussian Splatting with Dual-Opacity Primitives Liu, Guiyu Vaara, Niklas Mustaniemi, Janne Kannala, Juho Heikkilä, Janne Computer Vision and Pattern Recognition 3D Gaussian Splatting (3DGS) provides an explicit and efficient scene representation, but its primitives lack inherent object-level identity, hindering downstream tasks such as open-vocabulary scene understanding. Existing methods typically address this by either distilling high-dimensional feature embeddings into Gaussians or by lifting 2D mask labels into 3D via heuristic refinement. However, feature-based approaches incur heavy storage and decoding overhead, while lifting-based pipelines remain vulnerable to label contamination: Gaussians necessary for appearance reconstruction often receive incorrect object labels during 2D-to-3D projection. We propose OP2GS, an object-aware Gaussian representation that augments each primitive with an explicit instance identity and a dedicated instance opacity $σ^{*}$ for object-mask rendering. The original opacity $σ$ remains responsible for visual reconstruction, while $σ^{*}$ models whether a Gaussian should contribute to a particular object mask. This dual-opacity formulation decouples visual existence from instance occupancy: mislabeled Gaussians can remain available for image rendering while becoming transparent in the object-mask branch. To learn this representation, we introduce a random object loss that optimizes the 1D instance occupancy field using the standard transmittance-based visibility of 3DGS. Semantic descriptors are then attached at the object level through multi-view aggregation, eliminating per-Gaussian feature storage. Compared with feature-training approaches, OP2GS achieves competitive open-vocabulary performance while significantly reducing computational overhead. Compared with training-free pipelines, it leverages physically consistent occupancy learning to resolve visibility ambiguities. |
| title | OP2GS: Object-Aware 3D Gaussian Splatting with Dual-Opacity Primitives |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2605.20044 |