# See More and Know More: Zero-shot Point Cloud Segmentation via Multi-modal Visual Data

arXiv: https://arxiv.org/abs/2307.10782 · HTML: https://mlsanity.com/paper/2307.10782/

## Key facts

- Cited by 21 papers in the map (data through 14 Oct 2026).
- Builds on 54 of its 76 references that are in the map.
- First posted on arXiv 20 Jul 2023.

## Builds on (most cited first, 30 of 54)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Efficient Estimation of Word Representations in Vector Space](https://mlsanity.com/paper/1301.3781/) (2013)
- [Distributed Representations of Words and Phrases and their Compositionality](https://mlsanity.com/paper/1310.4546/) (2013)
- [Language-driven Semantic Segmentation](https://mlsanity.com/paper/2201.03546/) (2022)
- [Extract Free Dense Labels from CLIP](https://mlsanity.com/paper/2112.01071/) (2021)
- [GroupViT: Semantic Segmentation Emerges from Text Supervision](https://mlsanity.com/paper/2202.11094/) (2022)
- [Image Segmentation Using Text and Image Prompts](https://mlsanity.com/paper/2112.10003/) (2021)
- [TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving](https://mlsanity.com/paper/2205.15997/) (2022)
- [TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers](https://mlsanity.com/paper/2203.11496/) (2022)
- [PointPainting: Sequential Fusion for 3D Object Detection](https://mlsanity.com/paper/1911.10150/) (2019)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [BEVFusion: A Simple and Robust LiDAR-Camera Fusion Framework](https://mlsanity.com/paper/2205.13790/) (2022)
- [Zero-Shot Semantic Segmentation](https://mlsanity.com/paper/1906.00817/) (2019)
- [DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detection](https://mlsanity.com/paper/2203.08195/) (2022)
- [Decoupling Zero-Shot Semantic Segmentation](https://mlsanity.com/paper/2112.07910/) (2021)
- [FUTR3D: A Unified Sensor Fusion Framework for 3D Detection](https://mlsanity.com/paper/2203.10642/) (2022)
- [CLIP2Scene: Towards Label-efficient 3D Scene Understanding by CLIP](https://mlsanity.com/paper/2301.04926/) (2023)
- [RPVNet: A Deep and Efficient Range-Point-Voxel Fusion Network for LiDAR Point Cloud Segmentation](https://mlsanity.com/paper/2103.12978/) (2021)
- [PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimation](https://mlsanity.com/paper/1711.10871/) (2017)
- [Evaluation of Output Embeddings for Fine-Grained Image Classification](https://mlsanity.com/paper/1409.8403/) (2014)
- [2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds](https://mlsanity.com/paper/2207.04397/) (2022)
- [An Empirical Study and Analysis of Generalized Zero-Shot Learning for Object Recognition in the Wild](https://mlsanity.com/paper/1605.04253/) (2016)
- [Zero-Shot Learning by Convex Combination of Semantic Embeddings](https://mlsanity.com/paper/1312.5650/) (2013)
- [Semantic Autoencoder for Zero-Shot Learning](https://mlsanity.com/paper/1704.08345/) (2017)
- [Latent Embeddings for Zero-shot Classification](https://mlsanity.com/paper/1603.08895/) (2016)
- [Rethinking Range View Representation for LiDAR Segmentation](https://mlsanity.com/paper/2303.05367/) (2023)
- [Synthesized Classifiers for Zero-Shot Learning](https://mlsanity.com/paper/1603.00550/) (2016)

## Built on by (most cited first, 21 of 21)

- [UniSeg: A Unified Multi-Modal LiDAR Segmentation Network and the OpenPCSeg Codebase](https://mlsanity.com/paper/2309.05573/) (2023)
- [IS-Fusion: Instance-Scene Collaborative Fusion for Multimodal 3D Object Detection](https://mlsanity.com/paper/2403.15241/) (2024)
- [Better Call SAL: Towards Learning to Segment Anything in Lidar](https://mlsanity.com/paper/2403.13129/) (2024)
- [Multi-Space Alignments Towards Universal LiDAR Segmentation](https://mlsanity.com/paper/2405.01538/) (2024)
- [LiveHPS: LiDAR-based Scene-level Human Pose and Shape Estimation in Free Environment](https://mlsanity.com/paper/2402.17171/) (2024)
- [MLLM-For3D: Adapting Multimodal Large Language Model for 3D Reasoning Segmentation](https://mlsanity.com/paper/2503.18135/) (2025)
- [Bring Event into RGB and LiDAR: Hierarchical Visual-Motion Fusion for Scene Flow](https://mlsanity.com/paper/2403.07432/) (2024)
- [SURPRISE3D: A Dataset for Spatial Understanding and Reasoning in Complex 3D Scenes](https://mlsanity.com/paper/2507.07781/) (2025)
- [ZOPP: A Framework of Zero-shot Offboard Panoptic Perception for Autonomous Driving](https://mlsanity.com/paper/2411.05311/) (2024)
- [Forging Spatial Intelligence: A Roadmap of Multi-Modal Data Pre-Training for Autonomous Systems](https://mlsanity.com/paper/2512.24385/) (2025)
- [Model2Scene: Learning 3D Scene Representation via Contrastive Language-CAD Models Pre-training](https://mlsanity.com/paper/2309.16956/) (2023)
- [PanoSLAM: Panoptic 3D Scene Reconstruction via Gaussian SLAM](https://mlsanity.com/paper/2501.00352/) (2024)
- [SAM4D: Segment Anything in Camera and LiDAR Streams](https://mlsanity.com/paper/2506.21547/) (2025)
- [HUNTER: Unsupervised Human-centric 3D Detection via Transferring Knowledge from Synthetic Instances to Real Scenes](https://mlsanity.com/paper/2403.02769/) (2024)
- [PRENet: A Plane-Fit Redundancy Encoding Point Cloud Sequence Network for Real-Time 3D Action Recognition](https://mlsanity.com/paper/2405.06929/) (2024)
- [Towards Practical Human Motion Prediction with LiDAR Point Clouds](https://mlsanity.com/paper/2408.08202/) (2024)
- [Generalized Zero-Shot Learning for Point Cloud Segmentation with Evidence-Based Dynamic Calibration](https://mlsanity.com/paper/2509.08280/) (2025)
- [Triple Point Masking](https://mlsanity.com/paper/2409.17547/) (2024)
- [3D Can Be Explored In 2D: Pseudo-Label Generation for LiDAR Point Clouds Using Sensor-Intensity-Based 2D Semantic Segmentation](https://mlsanity.com/paper/2505.03300/) (2025)
- [GZSL-MoE: Apprentissage G'en'eralis'e Z'ero-Shot bas'e sur le M'elange d'Experts pour la Segmentation S'emantique de Nuages de Points 3DAppliqu'e `a un Jeu de Donn'ees d'Environnement de Collaboration Humain-Robot](https://mlsanity.com/paper/2509.22708/) (2025)
- [XMatchAD: A Cross-Modal Matching Perspective on Reconstruction-based Anomaly Detection](https://mlsanity.com/paper/2607.23658/) (2026)

## Abstract (arXiv)

Zero-shot point cloud segmentation aims to make deep models capable of recognizing novel objects in point cloud that are unseen in the training phase. Recent trends favor the pipeline which transfers knowledge from seen classes with labels to unseen classes without labels. They typically align visual features with semantic features obtained from word embedding by the supervision of seen classes' annotations. However, point cloud contains limited information to fully match with semantic features. In fact, the rich appearance information of images is a natural complement to the textureless point cloud, which is not well explored in previous literature. Motivated by this, we propose a novel multi-modal zero-shot learning method to better utilize the complementary information of point clouds and images for more accurate visual-semantic alignment. Extensive experiments are performed in two popular benchmarks, i.e., SemanticKITTI and nuScenes, and our method outperforms current SOTA methods with 52% and 49% improvement on average for unseen class mIoU, respectively.