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arXiv · 2512.15577

MoonSeg3R: Monocular Online Zero-Shot Segment Anything in 3D with Reconstructive Foundation Priors

Zhipeng Du·Duolikun Danier·Jan Eric Lenssen·Hakan Bilen
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Abstract

In this paper, we focus on online zero-shot monocular 3D instance segmentation, a novel practical setting where existing approaches fail to perform because they rely on posed RGB-D sequences. To overcome this limitation, we leverage CUT3R, a recent Reconstructive Foundation Model (RFM), to provide reliable geometric priors from a single RGB stream. We propose MoonSeg3R, which introduces three key components: (1) a self-supervised query refinement module with spatial-semantic distillation that transforms segmentation masks from 2D visual foundation models (VFMs) into discriminative 3D queries; (2) a 3D query index memory that provides temporal consistency by retrieving contextual queries; and (3) a state-distribution token from CUT3R that acts as a mask identity descriptor to strengthen cross-frame fusion. Experiments on ScanNet200 and SceneNN show that MoonSeg3R is the first method to enable online monocular 3D segmentation and achieves performance competitive with state-of-the-art RGB-D-based systems. Our code is available at https://github.com/VICO-UoE/MoonSeg3R.

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Zhipeng Du, Duolikun Danier, Jan Eric Lenssen, Hakan Bilen. 2026-04-20. MoonSeg3R: Monocular Online Zero-Shot Segment Anything in 3D with Reconstructive Foundation Priors. https://arxiv.org/abs/2512.15577

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