Lang3DSeg: Annotation-Free Open-Vocabulary 3D Segmentation with Point Transformers

arXiv:2610.00855 · cs.CV, cs.RO · Submitted 2026-10-01 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-10-01

Updated: 2026-10-01

Comments: 9 pages, 3 figures, 4 tables. Submitted to IEEE ICRA 2027

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Transformer — 17× in this paper · explained in 2 episodes
Benchmark — 11× in this paper · explained in 2 episodes
Accuracy — 10× in this paper · explained in 1 episode
Foundation Model — 9× in this paper · explained in 3 episodes
Computer Vision and Pattern Recognition — 8× in this paper
Distillation — 6× in this paper · explained in 2 episodes
Embeddings — 6× in this paper · explained in 2 episodes
Alignment — 5× in this paper · explained in 1 episode
Foundation Models — 5× in this paper · explained in 7 episodes
Instance Segmentation — 3× in this paper · explained in 3 episodes
Grounding — 2× in this paper · explained in 3 episodes
Pseudo-labels — 2× in this paper · explained in 2 episodes
Ablation — 1× in this paper · explained in 1 episode
Ablation Studies — 1× in this paper · explained in 1 episode
Consistency — 1× in this paper · explained in 3 episodes
Cosine Similarity — 1× in this paper · explained in 3 episodes
Decoupling — 1× in this paper · explained in 2 episodes
Point Clouds — 1× in this paper · explained in 2 episodes
Quantization — 1× in this paper · explained in 12 episodes
Regularization — 1× in this paper · explained in 3 episodes
Self-distillation — 1× in this paper · explained in 6 episodes

Sources

Related papers