# OpenScan: A Benchmark for Generalized Open-Vocabulary 3D Scene Understanding

arXiv: https://arxiv.org/abs/2408.11030 · HTML: https://mlsanity.com/paper/2408.11030/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 49 references that are in the map.
- First posted on arXiv 20 Aug 2024.

## Builds on (most cited first, 30 of 42)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [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)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [LVIS: A Dataset for Large Vocabulary Instance Segmentation](https://mlsanity.com/paper/1908.03195/) (2019)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Semantic Understanding of Scenes through the ADE20K Dataset](https://mlsanity.com/paper/1608.05442/) (2016)
- [ConceptNet 5.5: An Open Multilingual Graph of General Knowledge](https://mlsanity.com/paper/1612.03975/) (2016)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks](https://mlsanity.com/paper/2401.14159/) (2024)
- [Open-vocabulary Object Detection via Vision and Language Knowledge Distillation](https://mlsanity.com/paper/2104.13921/) (2021)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [RegionCLIP: Region-based Language-Image Pretraining](https://mlsanity.com/paper/2112.09106/) (2021)
- [OpenScene: 3D Scene Understanding with Open Vocabularies](https://mlsanity.com/paper/2211.15654/) (2022)
- [Scaling Open-Vocabulary Image Segmentation with Image-Level Labels](https://mlsanity.com/paper/2112.12143/) (2021)
- [ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data](https://mlsanity.com/paper/2111.08897/) (2021)
- [ScanRefer: 3D Object Localization in RGB-D Scans using Natural Language](https://mlsanity.com/paper/1912.08830/) (2019)
- [Mask3D: Mask Transformer for 3D Semantic Instance Segmentation](https://mlsanity.com/paper/2210.03105/) (2022)
- [OpenMask3D: Open-Vocabulary 3D Instance Segmentation](https://mlsanity.com/paper/2306.13631/) (2023)
- [Language-Grounded Indoor 3D Semantic Segmentation in the Wild](https://mlsanity.com/paper/2204.07761/) (2022)
- [Semantic-SAM: Segment and Recognize Anything at Any Granularity](https://mlsanity.com/paper/2307.04767/) (2023)
- [PLA: Language-Driven Open-Vocabulary 3D Scene Understanding](https://mlsanity.com/paper/2211.16312/) (2022)
- [PACO: Parts and Attributes of Common Objects](https://mlsanity.com/paper/2301.01795/) (2023)
- [Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning](https://mlsanity.com/paper/1803.09956/) (2018)
- [Open3DIS: Open-Vocabulary 3D Instance Segmentation with 2D Mask Guidance](https://mlsanity.com/paper/2312.10671/) (2023)

## Built on by (most cited first, 5 of 5)

- [3D-R1: Enhancing Reasoning in 3D VLMs for Unified Scene Understanding](https://mlsanity.com/paper/2507.23478/) (2025)
- [Unveiling the Mist over 3D Vision-Language Understanding: Object-centric Evaluation with Chain-of-Analysis](https://mlsanity.com/paper/2503.22420/) (2025)
- [LEO-VL: Efficient Scene Representation for Scalable 3D Vision-Language Learning](https://mlsanity.com/paper/2506.09935/) (2025)
- [OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations](https://mlsanity.com/paper/2503.19764/) (2025)
- [FRAME: Factored Retrieval via Attribute Readouts for Object-Centric Scene Memory](https://mlsanity.com/paper/2609.08886/) (2026)

## Abstract (arXiv)

Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the context of object classes, which is insufficient in providing a holistic evaluation to what extent a model understands the 3D scene. In this paper, we introduce a more challenging task called Generalized Open-Vocabulary 3D Scene Understanding (GOV-3D) to explore the open vocabulary problem beyond object classes. It encompasses an open and diverse set of generalized knowledge, expressed as linguistic queries of fine-grained and object-specific attributes. To this end, we contribute a new benchmark named textitOpenScan, which consists of 3D object attributes across eight representative linguistic aspects, including affordance, property, and material. We further evaluate state-of-the-art OV-3D methods on our OpenScan benchmark and discover that these methods struggle to comprehend the abstract vocabularies of the GOV-3D task, a challenge that cannot be addressed simply by scaling up object classes during training. We highlight the limitations of existing methodologies and explore promising directions to overcome the identified shortcomings.