cs.CVMay 13, 2026

EvObj: Learning Evolving Object-centric Representations for 3D Instance Segmentation without Scene Supervision

Authors: Jiahao ChenZihui ZhangYafei YangJinxi LiShenxing WeiZhixuan SunBo Yang

Organizations: Shenzhen Research Institute, The Hong Kong Polytechnic University · vLAR Group, The Hong Kong Polytechnic University

Abstract

We introduce EvObj for unsupervised 3D instance segmentation that bridges the geometric domain gap between synthetic pretraining data and real-world point clouds. Current methods suffer from structural discrepancies when transferring object priors from synthetic datasets (e.g., ShapeNet) to real scans (e.g., ScanNet), particularly due to morphological variations and occlusion artifacts. To address this, EvObj integrates two innovative modules: (1) An object discerning module that dynamically refines object candidates, enabling continuous adaptation of object priors to target domains; and (2) An object completion module that reconstructs partial geometries after discovering objects. We conduct extensive experiments on both real-world and synthetic datasets, demonstrating superior 3D object segmentation performance over all baselines while achieving state-of-the-art results.

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