3D Semantic Segmentation

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Overview

3D semantic segmentation labels the parts of a three-dimensional scene, helping robots, vehicles, and mapping systems understand both what objects are and where they are. Common approaches process point clouds with point or voxel transformers, fuse LiDAR with camera features, or transfer 2D foundation-model predictions into 3D; newer work also segments Gaussian-splatting and mesh representations. Indoor benchmarks such as ScanNet and S3DIS and outdoor benchmarks such as SemanticKITTI and nuScenes measure progress, alongside few-shot, unsupervised, and open-vocabulary settings that reduce dependence on dense labels. A central challenge is making accurate boundaries and fine-grained predictions transfer across sensors, viewpoints, and domains without excessive annotation or computation.

Latest papers

CardsList

137 papers12 papers in the last four weeks, down 37% on the four weeks before. 0.1% of all new papers.

  1. From Spherical to Gaussian: A Comparative Analysis of Point Cloud Cropping Strategies in Large-Scale 3D Environments

    May 3, 2026Maximilian Kellner, Dominik Merkle, Michael Brunklaus +13D Semantic SegmentationPoint Cloud Understanding

    Fraunhofer Institute for Physical Measurement Techniques IPM, Freiburg, 79110, Germany · University of Freiburg, Department of Sustainable Systems Engineering INATECH, Freiburg, 79110, Germany

  2. LIE: LiDAR-only HD Map Construction with Intensity Enhancement via Online Knowledge Distillation

    May 2, 2026Kanak Mazumder, Fabian B. FlohrHD Map ConstructionOnline Knowledge Distillation

    Munich University of Applied Sciences, Intelligent Vehicles Lab (IVL), Munich, Germany

  3. SAMamba3D: adapting Segment Anything for generalizable 3D segmentation of multiphase pore-scale images

    Apr 29, 2026Rui Zhang, Xianzhi Song, Linqi Zhu +3Image Segmentation3D Semantic Segmentation

    Department of Earth Science and Engineering, Imperial College London, London SW7 2AZ, United Kingdom · College of Petroleum Engineering, China University of Petroleum (Beijing), Beijing 102249, China

  4. Semantic Foam: Unifying Spatial and Semantic Scene Decomposition

    Apr 29, 2026Amr Sharafeldin, Shrisudhan Govindarajan, Thomas Walker +43D Semantic Segmentation3D Scene Representation

    1Simon Fraser University · University of Edinburgh · 3Wayve Technologies +2

  5. INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety

    Apr 25, 2026Alexander Nikitas Dimopoulos, Joseph Grasso, John Beltz3D Semantic Segmentation3D Scene Representation

    Location Based Services · PSCR, NIST · Boulder, CO, USA +2

  6. NRGS: Neural Regularization for Robust 3D Semantic Gaussian Splatting

    Apr 24, 2026Zaiyan Yang, Xinpeng Liu, Heng Guo +33D Gaussian Splatting3D Semantic Segmentation

    Beijing University of Posts and Telecommunications, China · The University of Osaka, Japan · Beijing Key Laboratory of Multimodal Data Intelligent Perception and Governance, China +1

  7. Volume Transformer: Revisiting Vanilla Transformers for 3D Scene Understanding

    Apr 21, 2026Kadir Yilmaz, Adrian Kruse, Tristan Höfer +23D ViTs3D Semantic Segmentation

    RWTH Aachen University · Eindhoven University of Technology

  8. Feasibility of Indoor Frame-Wise Lidar Semantic Segmentation via Distillation from Visual Foundation Model

    Apr 20, 2026Haiyang Wu, Juan J. Gonzales Torres, George Vosselman +1Cross-Modal Knowledge DistillationVision Foundation Model Adaptation

    Department of Earth Observation Science, Faculty of Geo-Information Science and Earth Observation (ITC), University of Twente, 7522 NB Enschede, The Netherlands

  9. TowerDataset: A Heterogeneous Benchmark for Transmission Corridor Segmentation with a Global-Local Fusion Framework

    Apr 18, 2026Xu Cui, Xinyan Liu, Chen Yang +43D Point Cloud SegmentationIndustrial Inspection

    Harbin Institute of Technology (Weihai) · University of the Chinese Academy of Sciences · City University of Hong Kong

  10. NG-GS: NeRF-Guided 3D Gaussian Splatting Segmentation

    Apr 16, 2026Yi He, Tao Wang, Yi Jin +33D Gaussian Splatting3DGS Segmentation

    Key Laboratory of Big Data and Artificial Intelligence in Transportation, Ministry of Education; School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China · Department of Artificial Intelligence, Westlake University, Hangzhou 310030, China

  11. Radar-Camera BEV Multi-Task Learning with Cross-Task Attention Bridge for Joint 3D Detection and Segmentation

    Apr 14, 2026Ahmet İnanç, Özgür ErkentAutonomous Driving PerceptionMulti-Task Learning

    Hacettepe University, Ankara, Turkey.

  12. HyperLiDAR: Adaptive Post-Deployment LiDAR Segmentation via Hyperdimensional Computing

    Apr 14, 2026Ivannia Gomez Moreno, Yi Yao, Ye Tian +73D Semantic SegmentationTest-Time Adaptation

    UCSD · UC Merced · SDSU +1

  13. GS4City: Hierarchical Semantic Gaussian Splatting via City-Model Priors

    Apr 13, 2026Qilin Zhang, Jinyu Zhu, Olaf Wysocki +23D Scene Representation3D Scene Understanding

    Technical University of Munich (TUM) · Munich Center for Machine Learning (MCML) · Karlsruhe Institute of Technology (KIT) +1

  14. Data-Efficient Semantic Segmentation of 3D Point Clouds via Open-Vocabulary Image Segmentation-based Pseudo-Labeling

    Apr 13, 2026Takahiko Furuya3D Semantic SegmentationSemantic Segmentation

    University of Yamanashi, 4-3-11 Takeda, Kofu-shi, Yamanashi-ken, 400-8511, Japan

  15. LIDARLearn: A Unified Deep Learning Library for 3D Point Cloud Classification, Segmentation, and Self-Supervised Representation Learning

    Apr 12, 2026Said Ohamouddou, Hanaa El Afia, Abdellatif El Afia +1Self-Supervised Point Cloud LearningPoint Cloud Learning

    ENSIAS, Mohammed V University, Rabat, Morocco

  16. RePL: Pseudo-label Refinement for Semi-supervised LiDAR Semantic Segmentation

    Apr 8, 2026Donghyeon Kwon, Taegyu Park, Suha KwakSemantic Segmentation3D Semantic Segmentation

    GENGENAI, Republic of Korea · Dept. of CSE, POSTECH, Republic of Korea · Graduate School of AI, POSTECH, Republic of Korea

  17. PointTPA: Dynamic Network Parameter Adaptation for 3D Scene Understanding

    Apr 6, 2026Siyuan Liu, Chaoqun Zheng, Xin Zhou +33D Scene UnderstandingTest-Time Adaptation

    Huazhong University of Science and Technology

  18. Shower-Aware Dual-Stream Voxel Networks for Structural Defect Detection in Cosmic-Ray Muon Tomography

    Apr 4, 2026Parthiv Dasgupta, Sambhav Agarwal, Palash Dutta +2Fault DetectionComputed Tomography

    Department of Computer Science and Engineering, Heritage Institute of Technology, Kolkata, India

  19. Semantic Segmentation of Textured Non-manifold 3D Meshes using Transformers

    Apr 2, 2026Mohammadreza Heidarianbaei, Max Mehltretter, Franz Rottensteiner3D Semantic Segmentation3D ViTs

    Institute of Photogrammetry and GeoInformation, Leibniz University Hannover, Germany

  20. IGLOSS: Image Generation for Lidar Open-vocabulary Semantic Segmentation

    Apr 1, 2026Nermin Samet, Gilles Puy, Renaud MarletOpen-Vocabulary 3D Segmentation3D Semantic Segmentation

    Valeo.ai, Paris, France · LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS, Marne-la-Vallée, France

  21. TreeGaussian: Tree-Guided Cascaded Contrastive Learning for Hierarchical Consistent 3D Gaussian Scene Segmentation and Understanding

    Mar 31, 2026Jingbin You, Zehao Li, Hao Jiang +83D Semantic Segmentation3D Scene Understanding

    Institute of Computing Technology, Chinese Academy of Sciences, ICT · University of Chinese Academy of Sciences, UCAS · Beihang University, BUAA

  22. Industrial3D: A Water-Treatment TLS Point Cloud Dataset and Cross-Paradigm Benchmark for MEP Scene Understanding

    Mar 30, 2026Chao Yin, Hongzhe Yue, Qing Han +83D Semantic SegmentationPoint Cloud Understanding

  23. DRUM: Diffusion-based Raydrop-aware Unpaired Mapping for Sim2Real LiDAR Segmentation

    Mar 27, 2026Tomoya Miyawaki, Kazuto Nakashima, Yumi Iwashita +1Synthetic-to-Real Domain Adaptation3D Semantic Segmentation

    Graduate School of Information Science and Electrical Engineering, Kyushu University, Japan. · Faculty of Information Science and Electrical Engineering, Kyushu University, Japan. · Jet Propulsion Laboratory, California Institute of Technology, USA.

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

    Mar 27, 2026Xujing Tao, Chuxin Wang, Yubo Ai +8Open-Vocabulary 3D Segmentation3D Semantic Segmentation

    University of Science and Technology of China · National Key Laboratory of Deep Space Exploration, Deep Space Exploration Laboratory

  25. OccAny: Generalized Unconstrained Urban 3D Occupancy

    Mar 24, 2026Anh-Quan Cao, Tuan-Hung Vu3D Occupancy PredictionDomain Generalization

    Valeo.ai, Paris, France

  26. SLARM: Streaming and Language-Aligned Reconstruction Model for Dynamic Scenes

    Mar 24, 2026Zhicheng Qiu, Jiarui Meng, Tong-an Luo +4Dynamic Scene ReconstructionStreaming 3D Reconstruction

    Huawei Technologies Ltd.

  27. Spatially-Aware Evaluation Framework for Aerial LiDAR Point Cloud Semantic Segmentation: Distance-Based Metrics on Challenging Regions

    Mar 23, 2026Alex Salvatierra, José Antonio Sanz, Christian Gutiérrez +1Semantic Segmentation3D Semantic Segmentation

    Department of Statistics, Computer Science and Mathematics and Institute of Smart Cities (ISC), Public University of Navarre (UPNA), Campus de Arrosad´ıa s/n, Pamplona, 31006, Navarre, Spain

  28. Riverine Land Cover Mapping through Semantic Segmentation of Multispectral Point Clouds

    Mar 23, 2026Sopitta Thurachen, Josef Taher, Matti Lehtomäki +6Point TransformerLand Cover Classification

    Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, Vuorimiehentie 5, Espoo, 02150, Finland · Faculty of Technology, University of Turku, Turku, 20014, Finland · Department of Geography and Geology, University of Turku, Turku, 20014, Finland +1

  29. Benchmarking Deep Learning Models for Aerial LiDAR Point Cloud Semantic Segmentation under Real Acquisition Conditions: A Case Study in Navarre

    Mar 23, 2026Alex Salvatierra, José Antonio Sanz, Christian Gutiérrez +13D Point Cloud Segmentation3D Semantic Segmentation

    Department of Statistics, Computer Science and Mathematics and Institute of Smart Cities (ISC), Public University of Navarre (UPNA), Campus de Arrosadía s/n, Pamplona, 31006, Navarre, Spain · Tracasa Instrumental, Cabárceno, 6, Sarriguren, 31621, Navarre, Spain

  30. Learning Hierarchical Orthogonal Prototypes for Generalized Few-Shot 3D Point Cloud Segmentation

    Mar 20, 2026Yifei Zhao, Fanyu Zhao, Zhongyuan Zhang +33D Point Cloud Segmentation3D Semantic Segmentation

    College of Computer Science and Artificial Intelligence, Fudan University, Shanghai, China