{"id":"https://openalex.org/W7161607242","doi":"https://doi.org/10.48550/arxiv.2605.15708","title":"3D Segmentation Using Viewpoint-Dependent Spatial Relationships","display_name":"3D Segmentation Using Viewpoint-Dependent Spatial Relationships","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161607242","doi":"https://doi.org/10.48550/arxiv.2605.15708"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15708","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15708","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136409476","display_name":"Ayaka Nanri","orcid":null},"institutions":[{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":[],"is_corresponding":false,"raw_author_name":"Nanri, Ayaka","raw_affiliation_strings":["Institute of Science Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo","institution_ids":["https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003564228","display_name":"Klara Reichard","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Reichard, Klara","raw_affiliation_strings":["Technical University of Munich","BMW Group"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"BMW Group","institution_ids":["https://openalex.org/I4210156768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119878062","display_name":"Mert Kiray","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146527","display_name":"Sphere Institute","ror":"https://ror.org/04k6f4x16","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210146527"]},{"id":"https://openalex.org/I4403386549","display_name":"Munich Center for Machine Learning","ror":"https://ror.org/02nfy3535","country_code":null,"type":"education","lineage":["https://openalex.org/I4403386549","https://openalex.org/I62916508","https://openalex.org/I8204097"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Kiray, Mert","raw_affiliation_strings":["Technical University of Munich","Munich Center for Machine Learning","Obsphera"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Munich Center for Machine Learning","institution_ids":["https://openalex.org/I4403386549"]},{"raw_affiliation_string":"Obsphera","institution_ids":["https://openalex.org/I4210146527"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135219089","display_name":"Federico Tombari","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Tombari, Federico","raw_affiliation_strings":["Technical University of Munich","Google"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136451718","display_name":"Benjamin Busam","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146527","display_name":"Sphere Institute","ror":"https://ror.org/04k6f4x16","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210146527"]},{"id":"https://openalex.org/I4403386549","display_name":"Munich Center for Machine Learning","ror":"https://ror.org/02nfy3535","country_code":null,"type":"education","lineage":["https://openalex.org/I4403386549","https://openalex.org/I62916508","https://openalex.org/I8204097"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Busam, Benjamin","raw_affiliation_strings":["Technical University of Munich","Munich Center for Machine Learning","Obsphera"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Munich Center for Machine Learning","institution_ids":["https://openalex.org/I4403386549"]},{"raw_affiliation_string":"Obsphera","institution_ids":["https://openalex.org/I4210146527"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045505869","display_name":"Asako Kanezaki","orcid":"https://orcid.org/0000-0003-3217-1405"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I4210110652","display_name":"RIKEN","ror":"https://ror.org/01sjwvz98","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanezaki, Asako","raw_affiliation_strings":["Institute of Science Tokyo","Tohoku University","RIKEN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo","institution_ids":["https://openalex.org/I4400009020"]},{"raw_affiliation_string":"Tohoku University","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"RIKEN","institution_ids":["https://openalex.org/I4210110652"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9345999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9345999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.008500000461935997,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.007000000216066837,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7228999733924866},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6442999839782715},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5543000102043152},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5476999878883362},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.44920000433921814},{"id":"https://openalex.org/keywords/spatial-relation","display_name":"Spatial relation","score":0.436599999666214},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.4172999858856201},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4052000045776367}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7749000191688538},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7228999733924866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7023000121116638},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6442999839782715},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5543000102043152},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5476999878883362},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4625999927520752},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.44920000433921814},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.436599999666214},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.4172999858856201},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4052000045776367},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39430001378059387},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3644999861717224},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29490000009536743},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C2777897806","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3D modeling","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.2689000070095062},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15708","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15708","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.49674052000045776,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,117],"3D":[3,13,18,48,113,142],"datasets":[4],"and":[5,37,40,56,121,155,169,186],"multimodal":[6,115,144],"models":[7,116,125,188],"have":[8],"greatly":[9],"improved":[10],"natural":[11],"language":[12],"scene":[14],"understanding.":[15],"However,":[16],"most":[17],"referring":[19,49],"segmentation":[20,50,164],"methods":[21],"do":[22],"not":[23],"explicitly":[24],"represent":[25],"the":[26,88,157,160],"observer":[27],"viewpoint,":[28,162],"making":[29,82],"spatial":[30,80,129],"relations":[31,98,104,168],"such":[32],"as":[33],"\"left,\"":[34],"\"right,\"":[35],"\"front,\"":[36],"\"behind\"":[38],"ambiguous":[39],"difficult":[41],"to":[42,58,94,174,177],"evaluate.":[43],"We":[44,86,131,146],"introduce":[45,147],"a":[46,118,148,178],"viewpoint-aware":[47],"dataset":[51],"containing":[52],"220k":[53],"benchmark":[54,89],"samples,":[55],"scalable":[57],"tens":[59],"of":[60,62],"millions":[61],"viewpoint-conditioned":[63,83],"samples":[64],"through":[65,78],"dense":[66],"viewpoint":[67,136,149,181],"sampling.":[68],"In":[69],"this":[70,107],"dataset,":[71,184],"target":[72],"objects":[73],"can":[74,138],"only":[75],"be":[76,139,190],"identified":[77],"observer-centric":[79,97],"relations,":[81],"grounding":[84],"necessary.":[85],"construct":[87],"by":[90],"leveraging":[91],"camera":[92,153],"poses":[93,154],"automatically":[95],"annotate":[96],"(left/right,":[99],"front/behind)":[100],"together":[101],"with":[102,127],"viewpoint-independent":[103],"(above/under).":[105],"Using":[106],"benchmark,":[108],"we":[109],"evaluate":[110],"several":[111],"existing":[112],"large":[114,143],"zero-shot":[119],"setting":[120],"find":[122],"that":[123,151],"current":[124],"struggle":[126],"viewpoint-dependent":[128,167],"instructions.":[130],"further":[132],"study":[133],"how":[134],"explicit":[135],"information":[137],"incorporated":[140],"into":[141],"models.":[145],"representation":[150],"encodes":[152],"conditions":[156],"model":[158,179],"on":[159,166],"observation":[161],"improving":[163],"accuracy":[165],"increasing":[170],"mIoU":[171],"from":[172],"0.30":[173],"0.47":[175],"compared":[176],"without":[180],"conditioning.":[182],"The":[183],"code,":[185],"trained":[187],"will":[189],"made":[191],"publicly":[192],"available":[193],"upon":[194],"acceptance.":[195]},"counts_by_year":[],"updated_date":"2026-07-25T17:18:41.151588","created_date":"2026-05-19T00:00:00"}