# FM-OV3D: Foundation Model-based Cross-modal Knowledge Blending for Open-Vocabulary 3D Detection

arXiv: https://arxiv.org/abs/2312.14465 · HTML: https://mlsanity.com/paper/2312.14465/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 37 references that are in the map.
- First posted on arXiv 22 Dec 2023.

## Builds on (most cited first, 30 of 32)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [LVIS: A Dataset for Large Vocabulary Instance Segmentation](https://mlsanity.com/paper/1908.03195/) (2019)
- [LLaMA-Adapter: Efficient Fine-tuning of Language Models with Zero-init Attention](https://mlsanity.com/paper/2303.16199/) (2023)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [LLaMA-Adapter V2: Parameter-Efficient Visual Instruction Model](https://mlsanity.com/paper/2304.15010/) (2023)
- [Open-Vocabulary Semantic Segmentation with Mask-adapted CLIP](https://mlsanity.com/paper/2210.04150/) (2022)
- [PointCLIP: Point Cloud Understanding by CLIP](https://mlsanity.com/paper/2112.02413/) (2021)
- [Open-Vocabulary Object Detection Using Captions](https://mlsanity.com/paper/2011.10678/) (2020)
- [An End-to-End Transformer Model for 3D Object Detection](https://mlsanity.com/paper/2109.08141/) (2021)
- [Personalize Segment Anything Model with One Shot](https://mlsanity.com/paper/2305.03048/) (2023)
- [Group-Free 3D Object Detection via Transformers](https://mlsanity.com/paper/2104.00678/) (2021)
- [Point-Bind & Point-LLM: Aligning Point Cloud with Multi-modality for 3D Understanding, Generation, and Instruction Following](https://mlsanity.com/paper/2309.00615/) (2023)
- [PointCLIP V2: Prompting CLIP and GPT for Powerful 3D Open-world Learning](https://mlsanity.com/paper/2211.11682/) (2022)
- [Prompt, Generate, then Cache: Cascade of Foundation Models makes Strong Few-shot Learners](https://mlsanity.com/paper/2303.02151/) (2023)
- [Learning 3D Representations from 2D Pre-trained Models via Image-to-Point Masked Autoencoders](https://mlsanity.com/paper/2212.06785/) (2022)
- [ImageBind-LLM: Multi-modality Instruction Tuning](https://mlsanity.com/paper/2309.03905/) (2023)
- [H3DNet: 3D Object Detection Using Hybrid Geometric Primitives](https://mlsanity.com/paper/2006.05682/) (2020)
- [CALIP: Zero-Shot Enhancement of CLIP with Parameter-free Attention](https://mlsanity.com/paper/2209.14169/) (2022)
- [Open-Vocabulary Point-Cloud Object Detection without 3D Annotation](https://mlsanity.com/paper/2304.00788/) (2023)
- [When SAM Meets Medical Images: An Investigation of Segment Anything Model (SAM) on Multi-phase Liver Tumor Segmentation](https://mlsanity.com/paper/2304.08506/) (2023)
- [Image2Point: 3D Point-Cloud Understanding with 2D Image Pretrained Models](https://mlsanity.com/paper/2106.04180/) (2021)
- [SAMM (Segment Any Medical Model): A 3D Slicer Integration to SAM](https://mlsanity.com/paper/2304.05622/) (2023)
- [Open-Vocabulary 3D Detection via Image-level Class and Debiased Cross-modal Contrastive Learning](https://mlsanity.com/paper/2207.01987/) (2022)

## Built on by (most cited first, 19 of 19)

- [Robotic Control via Embodied Chain-of-Thought Reasoning](https://mlsanity.com/paper/2407.08693/) (2024)
- [Open Vocabulary Monocular 3D Object Detection](https://mlsanity.com/paper/2411.16833/) (2024)
- [UniDet3D: Multi-dataset Indoor 3D Object Detection](https://mlsanity.com/paper/2409.04234/) (2024)
- [ImOV3D: Learning Open-Vocabulary Point Clouds 3D Object Detection from Only 2D Images](https://mlsanity.com/paper/2410.24001/) (2024)
- [Global-Local Collaborative Inference with LLM for Lidar-Based Open-Vocabulary Detection](https://mlsanity.com/paper/2407.08931/) (2024)
- [OpenAD: Open-World Autonomous Driving Benchmark for 3D Object Detection](https://mlsanity.com/paper/2411.17761/) (2024)
- [LocateAnything3D: Vision-Language 3D Detection with Chain-of-Sight](https://mlsanity.com/paper/2511.20648/) (2025)
- [Zoom in, Click out: Unlocking and Evaluating the Potential of Zooming for GUI Grounding](https://mlsanity.com/paper/2512.05941/) (2025)
- [Embedded Visual Prompt Tuning](https://mlsanity.com/paper/2407.01003/) (2024)
- [ZOPP: A Framework of Zero-shot Offboard Panoptic Perception for Autonomous Driving](https://mlsanity.com/paper/2411.05311/) (2024)
- [LabelAny3D: Label Any Object 3D in the Wild](https://mlsanity.com/paper/2601.01676/) (2026)
- [Zoo3D: Zero-Shot 3D Object Detection at Scene Level](https://mlsanity.com/paper/2511.20253/) (2025)
- [OV-SCAN: Semantically Consistent Alignment for Novel Object Discovery in Open-Vocabulary 3D Object Detection](https://mlsanity.com/paper/2503.06435/) (2025)
- [Exploring Representation Invariance in Finetuning](https://mlsanity.com/paper/2503.07399/) (2025)
- [Towards Open-Vocabulary Multimodal 3D Object Detection with Attributes](https://mlsanity.com/paper/2508.16812/) (2025)
- [OpenNav: Efficient Open Vocabulary 3D Object Detection for Smart Wheelchair Navigation](https://mlsanity.com/paper/2408.13936/) (2024)
- [GLRD: Global-Local Collaborative Reason and Debate with PSL for 3D Open-Vocabulary Detection](https://mlsanity.com/paper/2503.20682/) (2025)
- [Sparse Multiview Open-Vocabulary 3D Detection](https://mlsanity.com/paper/2509.15924/) (2025)
- [NOVA: Next-step Open-Vocabulary Autoregression for 3D Multi-Object Tracking in Autonomous Driving](https://mlsanity.com/paper/2603.06254/) (2026)

## Abstract (arXiv)

The superior performances of pre-trained foundation models in various visual tasks underscore their potential to enhance the 2D models' open-vocabulary ability. Existing methods explore analogous applications in the 3D space. However, most of them only center around knowledge extraction from singular foundation models, which limits the open-vocabulary ability of 3D models. We hypothesize that leveraging complementary pre-trained knowledge from various foundation models can improve knowledge transfer from 2D pre-trained visual language models to the 3D space. In this work, we propose FM-OV3D, a method of Foundation Model-based Cross-modal Knowledge Blending for Open-Vocabulary 3D Detection, which improves the open-vocabulary localization and recognition abilities of 3D model by blending knowledge from multiple pre-trained foundation models, achieving true open-vocabulary without facing constraints from original 3D datasets. Specifically, to learn the open-vocabulary 3D localization ability, we adopt the open-vocabulary localization knowledge of the Grounded-Segment-Anything model. For open-vocabulary 3D recognition ability, We leverage the knowledge of generative foundation models, including GPT-3 and Stable Diffusion models, and cross-modal discriminative models like CLIP. The experimental results on two popular benchmarks for open-vocabulary 3D object detection show that our model efficiently learns knowledge from multiple foundation models to enhance the open-vocabulary ability of the 3D model and successfully achieves state-of-the-art performance in open-vocabulary 3D object detection tasks. Code is released at https://github.com/dmzhang0425/FM-OV3D.git.