ShelfGaussian: Shelf-Supervised Open-Vocabulary Gaussian-based 3D Scene Understanding

• URL: http://arxiv.org/abs/2512.03370v1
• Date: Wed, 03 Dec 2025 02:06:09 GMT
• Title: ShelfGaussian: Shelf-Supervised Open-Vocabulary Gaussian-based 3D Scene Understanding
• Authors: Lingjun Zhao, Yandong Luo, James Hay, Lu Gan,
• Abstract summary: We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models.<n>Existing methods either model objects as closed-set semantic Gaussians supervised by annotated 3D labels, neglecting their rendering ability, or learn open-set Gaussian representations via purely 2D self-supervision.
• Score: 7.610505486431266
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We introduce ShelfGaussian, an open-vocabulary multi-modal Gaussian-based 3D scene understanding framework supervised by off-the-shelf vision foundation models (VFMs). Gaussian-based methods have demonstrated superior performance and computational efficiency across a wide range of scene understanding tasks. However, existing methods either model objects as closed-set semantic Gaussians supervised by annotated 3D labels, neglecting their rendering ability, or learn open-set Gaussian representations via purely 2D self-supervision, leading to degraded geometry and limited to camera-only settings. To fully exploit the potential of Gaussians, we propose a Multi-Modal Gaussian Transformer that enables Gaussians to query features from diverse sensor modalities, and a Shelf-Supervised Learning Paradigm that efficiently optimizes Gaussians with VFM features jointly at 2D image and 3D scene levels. We evaluate ShelfGaussian on various perception and planning tasks. Experiments on Occ3D-nuScenes demonstrate its state-of-the-art zero-shot semantic occupancy prediction performance. ShelfGaussian is further evaluated on an unmanned ground vehicle (UGV) to assess its in the-wild performance across diverse urban scenarios. Project website: https://lunarlab-gatech.github.io/ShelfGaussian/.

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