Post-Training Semantic Lifting for 3D Gaussian Splatting: Separating Detector, Lifting and Representation Error

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

The same Gaussian of a 3D Gaussian Splatting model is seen from many views, and these views do not always agree on the class it belongs to. The Gaussian may be occluded in some of them, and the confidence of the detector is not the same from one view to another. The ground truth, on the other hand, is given as an annotated mesh, because two training runs do not produce the same Gaussians. In this work, we propose a post-training lifting method that works with one target class at a time and combines the information coming from all the views. Target and non-target evidence are accumulated simultaneously, weighted by the visibility of each Gaussian in each view. After that, the Gaussians are filtered with two thresholds: a main threshold $β$ selects the high-confidence seeds, and a lower one $γβ$ adds the connected components around them. For the evaluation, the labels are transferred from the Gaussians to the mesh vertices that are both visible and annotated. With this design, we can separate three sources of error: the 2D detector, the lifting and the transfer between representations. The thresholds and the transfer operator are chosen on seven Replica validation scenes, and the method is evaluated on ten held-out ScanNet++ scenes with the same values for every scene and class. The mean mIoU on the validation scenes was 0.93 with masks from the dataset annotations and 0.65 with YOLO masks, and on the ScanNet++ test scenes it was 0.80 and 0.54. Compared with thresholding the evidence per view, as a previous version of the method did, the fraction improves the test mIoU by 0.24 and makes it possible to use a single threshold for all the classes and scenes of both datasets. Finally, the error analysis shows that most of the remaining error comes from the detector.

Links and sources

• Official / arXiv page
• PDF from original source

Comments