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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content=" Sparse Semantic Supervised Tensorial Radiance Field (3S-TensoRF)">
<meta name="keywords" content="Semanrtic NeRF, 3S-TensoRF, NeRF">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>CoSSegGaussians: Compact and Swift Scene Segmenting 3D Gaussians with Dual Feature Fusion</title>
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More Research
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HyperNeRF
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<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered is-fullwidth">
<div class="column has-text-centered is-full ">
<h1 class="title is-3 publication-title">CoSSegGaussians: Compact and Swift Scene Segmenting 3D Gaussians with Dual Feature Fusion</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
Bin Dou<sup>1</sup>,</span>
<span class="author-block">
Tianyu Zhang<sup>1</sup>,
</span>
<span class="author-block">
Yongjia Ma<sup>1</sup>,</span>
<span class="author-block">
Zhaohui Wang<sup>1</sup>,
</span>
<span class="author-block">
Zejian Yuan<sup>1*</sup>
</span>
<!-- <span class="author-block">
<a href="https://www.danbgoldman.com">Dan B Goldman</a><sup>2</sup>,
</span>
<span class="author-block">
<a href="https://homes.cs.washington.edu/~seitz/">Steven M. Seitz</a><sup>1,2</sup>,
</span>
<span class="author-block">
<a href="http://www.ricardomartinbrualla.com">Ricardo Martin-Brualla</a><sup>2</sup>
</span><! -->
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University</span>
<!-- <span class="author-block"><sup>2</sup>Google Research</span> -->
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/pdf/2401.05925.pdf"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2401.05925"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
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<a href
class="external-link button is-normal is-rounded is-dark">
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<span>Code(Coming Soon)</span>
</a>
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class="external-link button is-normal is-rounded is-dark">
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<i class="far fa-images"></i>
</span>
<span>Data</span>
</a> -->
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<div class="columns is-centered has-text-centered">
<div class="column is-full-width">
<div class="b-dics" style="width: 600px; font-weight: 600;">
<img src="static/videos/rgb.gif" alt="RGB">
<img src="static/videos/seg.gif" alt="Semantic">
<img src="static/videos/pano.gif" alt="Panoptic">
</div>
<h2 class="subtitle has-text-centered" style="margin-top: 15px">
Semantic & Panoptic segmentation results are presented.
</h2>
</div>
</div>
</div>
</div>
</section>
<!-- overview video -->
<!-- <section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video id="teaser" autoplay muted loop playsinline height="100%">
<source src="./static/videos/sem.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
</span> Overview video
</h2>
</div>
</div>
</section> -->
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered is-multiline">
<!-- <div class="columns is-centered has-text-centered"> -->
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
We propose Compact and Swift Segmenting 3D Gaussians(CoSSegGaussians), a method for compact 3D-consistent scene segmentation at fast rendering speed with only RGB images input.
Previous NeRF-based segmentation methods have relied on time-consuming neural scene optimization.
While recent 3D Gaussian Splatting has notably improved speed, existing Gaussian-based segmentation methods struggle to produce compact masks, especially in zero-shot segmentation.
This issue probably stems from their straightforward assignment of learnable parameters to each Gaussian, resulting in a lack of robustness against cross-view inconsistent 2D machine-generated labels.
Our method aims to address this problem by employing Dual Feature Fusion Network as Gaussians' segmentation field.
Specifically, we first optimize 3D Gaussians under RGB supervision.
After Gaussian Locating, DINO features extracted from images are applied through explicit unprojection,
which are further incorporated with spatial features from the efficient point cloud processing network.
Feature aggregation is utilized to fuse them in a global-to-local strategy for compact segmentation features.
Experimental results show that our model outperforms baselines on both semantic and panoptic zero-shot segmentation task,
meanwhile consumes less than 10% inference time compared to NeRF-based methods.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- Abstract. -->
<div class="columns is-centered has-text-centered is-multiline">
<div class="column is-four-fifths ">
<h2 class="title is-3">Method</h2>
<div class="content has-text-justified">
<p>
Given only posed RGB images of a 3D scene, our method aims to build an expressive representation to capture geometry, appearance as well as compact segmenting identity of the scene.
Our proposed model, CoSSegGaussians, enables compact novel-view 3D-consistent segmentation,
while consuming much less rendering time compared to NeRF-based methods.
The below figure provides an overview of CoSSegGaussians' architecture.
</p>
</div>
</div>
<p>
<img src="./static/images/model.svg"
class="interpolation-image"
alt="Interpolate start reference image."/>
<!-- <figure class="image is-9by6">
<img src="./static/images/model.svg" alt="Interpolate start reference image.">
</figure> -->
</p>
</div>
<!-- Comparison. -->
<div class="columns is-centered has-text-centered is-multiline">
<div class="column is-four-fifths ">
<h2 class="title is-3">Comparisons</h2>
<div class="content has-text-justified">
<p>
(a) shows qualitative comparison of our method with other methods on Replica/ScanNet dataset.
(b) and (c) present quantitative comparison on semantic and panoptic segmentation respectively,
by averaging over all scenes in each dataset.
</p>
</div>
</div>
<p>
<img src="./static/images/demo.svg"
class="interpolation-image"
alt="Interpolate start reference image."/>
</p>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Animation. -->
<h2 class="title is-3">Animation</h2>
<h3 class="title is-4">Scene Segmentation</h3>
<div class="content has-text-justified">
<p>
Use the slider to observe rendered semantic & panoptic segmentation maps from various viewpoints
of different methods.
</p>
</div>
<br/>
<div class="columns is-vcentered interpolation-panel ">
<div class="column is-one-third ">
<div id="RGB-image-wrapper">
Loading...
</div>
<p class="has-text-centered has-text-weight-bold is-size-5">RGB</p>
</div>
<div class="column is-two-three is-multiline">
<div class="columns ">
<div class="column is-offset-0 ">
<div id="MaskDINO-image-wrapper">
Loading...
</div>
<p class="has-text-centered has-text-weight-bold is-size-5">Semantic(Gaussian Grouping)</p>
</div>
<div class="column is-offset-0 ">
<div id="TensoRF_LP-image-wrapper">
Loading...
</div>
<p class="has-text-centered has-text-weight-bold is-size-5">Panoptic(Gaussian Grouping)</p>
</div>
</div>
<div class="columns ">
<div class="column is-offset-0 ">
<div id="DM-image-wrapper">
Loading...
</div>
<p class="has-text-centered has-text-weight-bold is-size-5">Semantic(Ours)</p>
</div>
<div class="column is-offset-0 ">
<div id="Panoptic-image-wrapper">
Loading...
</div>
<p class="has-text-centered has-text-weight-bold is-size-5">Panoptic(Ours)</p>
</div>
</div>
<input class="slider is-full-width is-large is-info"
id="interpolation-slider"
step="1" min="0" max="180" value="0" type="range">
</div>
</div>
<br>
<h3 class="title is-4">Segmented 3D Gaussians</h3>
<div class="content has-text-justified">
<!-- <p> -->
<!-- We presnet the pointcloud video . -->
<!-- </p> -->
</div>
<div class="container">
<div class="columns is-centered is-vcentered">
<div class="column is-8 is-offset-2">
<video id="teaser" autoplay muted loop playsinline center style="width: 80%;">
<source src="./static/videos/pointcloud_sel_new.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
<br>
<h3 class="title is-4">DINO Feature Field</h3>
<div class="content has-text-justified">
<p>
We've visualized the feature field obtained through DINO feature unprojection.
</p>
</div>
<!--/ DINO. -->
<div class="column is-8 is-offset-2 ">
<div class="b-dics" style="width: 100%; font-weight: 600;">
<img src="static/videos/rgb_sel.gif" >
<img src="static/videos/feature_sel.gif" >
<!-- <img src="static/videos/pano.gif" alt="Panoptic"> -->
</div>
<!-- <div class="column is-6">
<div class="b-dics" style="width: 100%; font-weight: 600;">
<img src="static/videos/rgb_sel.gif" >
<img src="static/videos/feature_sel.gif" >
</div>
</div> -->
</div>
<br>
<h3 class="title is-4">Applications</h3>
<h4 class="title is-5">Language-guided Segmentation</h4>
<div class="content has-text-justified">
<p>
Language-guided segmentation results are provided as an application of our method,
based on 2D language-guided segmentation method
<a href="https://arxiv.org/abs/2304.10597">Text2Seg</a>.
</p>
</div>
<div class="columns is-vcentered interpolation-panel">
<div class="column has-text-centered">
<h4 class="title is-4">Text Prompt: <i>Blue Toy</i> </h4>
<div class="b-dics" style="width: 100%; font-weight: 600;">
<img src="static/videos/seg_office_gt.gif">
<img src="static/videos/seg_office.gif" >
<!-- <img src="static/videos/pano.gif" alt="Panoptic"> -->
</div>
</div>
<div class="column has-text-centered">
<h4 class="title is-size-4">Text Prompt: <i>Potted Plant</i> </h4>
<div class="b-dics" style="width: 100%; font-weight: 600;">
<img src="static/videos/seg_room_gt.gif" >
<img src="static/videos/seg_room.gif" >
<!-- <img src="static/videos/pano.gif" alt="Panoptic"> -->
</div>
</div>
</div>
<h4 class="title is-5">Scene Manipulation</h4>
<div class="content has-text-justified">
<p>
Scene manipulation results are provided as another application.
</p>
</div>
<h5 class="title is-6">Interactive & Detailed Results</h5>
<div class="columns is-vcentered interpolation-panel">
<div class="column is-12 has-text-centered">
<div class="columns is-centered">
<div class="column is-4">
<img id = "output-office-gt"
src="./static/editing/GT_office.png"
alt="Translating-image-office-gt"
class="image is-648x648"/>
<!-- <p class="has-text-centered has-text-weight-bold is-size-5">Before Manipulation</p> -->
</div>
<div class="column is-4">
<img id = "output-img1a1"
src="./static/editing/GT_office.png"
alt="Translating-image-office-group"
class="image is-648x648"/>
<!-- <p class="has-text-centered has-text-weight-bold is-size-5">Gaussian Grouping</p> -->
</div>
<div class="column is-4">
<img id = "output-img1b1"
src="./static/editing/GT_office.png"
alt="Translating-image-office-ours"
class="image is-648x648"/>
<!-- <p class="has-text-centered has-text-weight-bold is-size-5">Ours</p> -->
</div>
</div>
<div class="columns is-centered">
<div class="column is-4">
<img id = "output-office-gt"
src="./static/editing/GT_office_detail.png"
alt="Translating-image-office-gt-detail"
class="image is-648x648"/>
<p class="has-text-centered has-text-weight-bold is-size-5">Before Manipulation</p>
</div>
<div class="column is-4">
<img id = "output-img1a2"
src="./static/editing/GT_office_detail.png"
alt="Translating-image-office-group-detail"
class="image is-648x648"/>
<p class="has-text-centered has-text-weight-bold is-size-5">Gaussian Grouping</p>
</div>
<div class="column is-4">
<img id = "output-img1b2"
src="./static/editing/GT_office_detail.png"
alt="Translating-image-office-ours-detail"
class="image is-648x648"/>
<p class="has-text-centered has-text-weight-bold is-size-5">Ours</p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-3">
<button id="change-image-btn1" class="button is-medium is-info has-text-weight-bold">Translate</button>
</div>
<div class="column is-3">
<button id="reset-image-btn1" class="button is-medium is-info has-text-weight-bold">Reset</button>
</div>
</div>
</div>
</div>
<div class="columns is-vcentered interpolation-panel">
<div class="column is-12 has-text-centered">
<div class="columns is-centered">
<div class="column is-4">
<img id = "output-room-gt"
src="./static/editing/GT_room.png"
alt="Erasing-image-room-gt"
class="image is-648x648"/>
<!-- <p class="has-text-centered has-text-weight-bold is-size-5">Before Manipulation</p> -->
</div>
<div class="column is-4">
<img id = "output-img2a1"
src="./static/editing/GT_room.png"
alt="Erasing-image-room-group"
class="image is-648x648"/>
<!-- <p class="has-text-centered has-text-weight-bold is-size-5">Gaussian Grouping</p> -->
</div>
<div class="column is-4">
<img id = "output-img2b1"
src="./static/editing/GT_room.png"
alt="Erasing-image-room-ours"
class="image is-648x648"/>
<!-- <p class="has-text-centered has-text-weight-bold is-size-5">Ours</p> -->
</div>
</div>
<div class="columns is-centered">
<div class="column is-4">
<img id = "output-room-gt"
src="./static/editing/GT_room_detail.png"
alt="Erasing-image-room-gt-detail"
class="image is-648x648"/>
<p class="has-text-centered has-text-weight-bold is-size-5">Before Manipulation</p>
</div>
<div class="column is-4">
<img id = "output-img2a2"
src="./static/editing/GT_room_detail.png"
alt="Erasing-image-room-group-detail"
class="image is-648x648"/>
<p class="has-text-centered has-text-weight-bold is-size-5">Gaussian Grouping</p>
</div>
<div class="column is-4">
<img id = "output-img2b2"
src="./static/editing/GT_room_detail.png"
alt="Erasing-image-room-ours-detail"
class="image is-648x648"/>
<p class="has-text-centered has-text-weight-bold is-size-5">Ours</p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-3">
<button id="change-image-btn2" class="button is-medium is-info has-text-weight-bold">Remove</button>
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<button id="reset-image-btn2" class="button is-medium is-info has-text-weight-bold">Reset</button>
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</div>
</div>
</div>
<h5 class="title is-6">Multi-views' Results</h5>
<div class="columns is-vcentered interpolation-panel">
<div class="column has-text-centered">
<h4 class="title is-5">Translating of Seat</h4>
<div class="b-dics" style="width: 100%; font-weight: 600;">
<img src="static/videos/edit_office_gt.gif">
<img src="static/videos/edit_office.gif" >
<!-- <img src="static/videos/pano.gif" alt="Panoptic"> -->
</div>
</div>
<div class="column has-text-centered">
<h4 class="title is-size-5">Removal of Stool</h4>
<div class="b-dics" style="width: 100%; font-weight: 600;">
<img src="static/videos/edit_room_gt.gif" >
<img src="static/videos/edit_room.gif" >
<!-- <img src="static/videos/pano.gif" alt="Panoptic"> -->
</div>
</div>
</div>
<!-- <h4 class="title is-5">Erasing</h4>
<div class="columns is-vcentered interpolation-panel">
<div class="column is-12 has-text-centered">
<img id = "output-img1"
src="./static/editing/before_erasing_office3.png"
alt="Erasing-image"
class="image is-648x648"/>
<div class="columns is-centered">
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">Before Manipulation</p>
</div>
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">DM-NeRF</p>
</div>
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">Ours (Erased)</p>
</div>
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">Ours (Inpainted)</p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-3">
<button id="change-image-btn1" class="button is-medium is-info has-text-weight-bold">Erasing</button>
</div>
<div class="column is-3">
<button id="reset-image-btn1" class="button is-medium is-info has-text-weight-bold">Reset</button>
</div>
</div>
</div>
</div>
<div class="columns is-vcentered interpolation-panel">
<div class="column is-12 has-text-centered">
<img id = "output-img2"
src="./static/editing/before_erasing_room0.png"
alt="Erasing-image"
class="image is-648x648"/>
<div class="columns is-centered">
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">Before Manipulation</p>
</div>
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">DM-NeRF</p>
</div>
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">Ours (Erased)</p>
</div>
<div class="column is-3">
<p class="has-text-centered has-text-weight-bold is-size-5">Ours (Inpainted)</p>
</div>
</div>
<div class="columns is-centered">
<div class="column is-3">
<button id="change-image-btn2" class="button is-medium is-info has-text-weight-bold">Erasing</button>
</div>
<div class="column is-3">
<button id="reset-image-btn2" class="button is-medium is-info has-text-weight-bold">Reset</button>
</div>
</div>
</div>
</div> -->
<!-- <div class="column is-vcentered">
<div class="column ">
<h4 class="title is-4">Language-guided Editing1</h4>
<video class="video" width="10%" id="xyalias1" loop playsinline autoplay muted src="static/videos/rgb_vs_feature2.mp4" onplay="resizeAndPlay(this)" style="height: 0px;"></video>
<canvas height=0 class="videoMerge" id="xyalias1Merge"></canvas>
</div>
<div class="column ">
<h4 class="title is-4">Language-guided Editing2</h4>
<video class="video" width="10%" id="xyalias2" loop playsinline autoplay muted src="static/videos/rgb_vs_feature2.mp4" onplay="resizeAndPlay(this)" style="height: 0px;"></video>
<canvas height=0 class="videoMerge" id="xyalias2Merge"></canvas>
</div>
<div class="column ">
<h4 class="title is-4">Language-guided Editing3</h4>
<video class="video" width="10%" id="xyalias3" loop playsinline autoplay muted src="static/videos/rgb_vs_feature2.mp4" onplay="resizeAndPlay(this)" style="height: 0px;"></video>
<canvas height=0 class="videoMerge" id="xyalias3Merge"></canvas>
</div>
<div class="column ">
<h4 class="title is-4">Language-guided Editing4</h4>
<video class="video" width="10%" id="xyalias4" loop playsinline autoplay muted src="static/videos/rgb_vs_feature2.mp4" onplay="resizeAndPlay(this)" style="height: 0px;"></video>
<canvas height=0 class="videoMerge" id="xyalias4Merge"></canvas>
</div>
</div> -->
<!--/ Animation. -->
<br>
<!-- Concurrent Work. -->
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3">Related Links</h2>
<div class="content has-text-justified">
<p>
There are some related works focusing on 3D scene segmentation,
such as <a href="https://arxiv.org/abs/2103.15875">Semantic-NeRF</a>,
<a href="https://arxiv.org/abs/2208.07227">DM-NeRF</a>,
<a href="https://arxiv.org/abs/2212.09802">Panoptic-Lifting</a>,
<a href="https://arxiv.org/abs/2312.00732">Gaussian Grouping</a>,
etc.
</p>
</div>
</div>
</div>
<!--/ Concurrent Work. -->
</div>
</section>
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title is-3">Citation</h2>
<pre><code>@article{dou2024cosseggaussians,
title={CoSSegGaussians: Compact and Swift Scene Segmenting 3D Gaussians with Dual Feature Fusion},
author={Dou, Bin and Zhang, Tianyu and Ma, Yongjia and Wang, Zhaohui and Yuan, Zejian},
journal={arXiv preprint arXiv:2401.05925},
year={2024}
}
</code></pre>
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