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arXiv · 2603.26260

GeoGuide: Hierarchical Geometric Guidance for Open-Vocabulary 3D Semantic Segmentation

Xujing Tao·Chuxin Wang·Yubo Ai·Zhixin Cheng·Zhuoyuan Li·Liangsheng Liu·Yujia Chen·Xinjun Li·Qiao Li·Wenfei Yang·Tianzhu Zhang
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Abstract

Open-vocabulary 3D semantic segmentation aims to segment arbitrary categories beyond the training set. Existing methods predominantly rely on distilling knowledge from 2D open-vocabulary models. However, aligning 3D features to the 2D representation space restricts intrinsic 3D geometric learning and inherits errors from 2D predictions. To address these limitations, we propose GeoGuide, a novel framework that leverages pretrained 3D models to integrate hierarchical geometry-semantic consistency for open-vocabulary 3D segmentation. Specifically, we introduce an Uncertainty-based Superpoint Distillation module to fuse geometric and semantic features for estimating per-point uncertainty, adaptively weighting 2D features within superpoints to suppress noise while preserving discriminative information to enhance local semantic consistency. Furthermore, our Instance-level Mask Reconstruction module leverages geometric priors to enforce semantic consistency within instances by reconstructing complete instance masks. Additionally, our Inter-Instance Relation Consistency module aligns geometric and semantic similarity matrices to calibrate cross-instance consistency for same-category objects, mitigating viewpoint-induced semantic drift. Extensive experiments on ScanNet v2, Matterport3D, and nuScenes demonstrate the superior performance of GeoGuide.

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Xujing Tao, Chuxin Wang, Yubo Ai, Zhixin Cheng, Zhuoyuan Li, Liangsheng Liu, Yujia Chen, Xinjun Li, Qiao Li, Wenfei Yang, Tianzhu Zhang. 2026-03-27. GeoGuide: Hierarchical Geometric Guidance for Open-Vocabulary 3D Semantic Segmentation. https://arxiv.org/abs/2603.26260

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