# Easy3D: A Simple Yet Effective Method for 3D Interactive Segmentation

arXiv: https://arxiv.org/abs/2504.11024 · HTML: https://mlsanity.com/paper/2504.11024/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 41 references that are in the map.
- First posted on arXiv 15 Apr 2025.

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

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [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)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation](https://mlsanity.com/paper/2004.01658/) (2020)
- [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)
- [3D-SIS: 3D Semantic Instance Segmentation of RGB-D Scans](https://mlsanity.com/paper/1812.07003/) (2018)
- [SoftGroup for 3D Instance Segmentation on Point Clouds](https://mlsanity.com/paper/2203.01509/) (2022)
- [Deep Interactive Object Selection](https://mlsanity.com/paper/1603.04042/) (2016)
- [GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud](https://mlsanity.com/paper/1812.03320/) (2018)
- [3D-MPA: Multi Proposal Aggregation for 3D Semantic Instance Segmentation](https://mlsanity.com/paper/2003.13867/) (2020)
- [OneFormer3D: One Transformer for Unified Point Cloud Segmentation](https://mlsanity.com/paper/2311.14405/) (2023)
- [VR-NeRF: High-Fidelity Virtualized Walkable Spaces](https://mlsanity.com/paper/2311.02542/) (2023)
- [Learning to predict crisp boundaries](https://mlsanity.com/paper/1807.10097/) (2018)
- [Segment3D: Learning Fine-Grained Class-Agnostic 3D Segmentation without Manual Labels](https://mlsanity.com/paper/2312.17232/) (2023)
- [Iteratively Trained Interactive Segmentation](https://mlsanity.com/paper/1805.04398/) (2018)
- [Point-SAM: Promptable 3D Segmentation Model for Point Clouds](https://mlsanity.com/paper/2406.17741/) (2024)
- [AGILE3D: Attention Guided Interactive Multi-object 3D Segmentation](https://mlsanity.com/paper/2306.00977/) (2023)
- [UnScene3D: Unsupervised 3D Instance Segmentation for Indoor Scenes](https://mlsanity.com/paper/2303.14541/) (2023)
- [Interactive Object Segmentation in 3D Point Clouds](https://mlsanity.com/paper/2204.07183/) (2022)
- [Interactive Annotation of 3D Object Geometry using 2D Scribbles](https://mlsanity.com/paper/2008.10719/) (2020)

## Built on by (most cited first, 3 of 3)

- [Semantic Foam: Unifying Spatial and Semantic Scene Decomposition](https://mlsanity.com/paper/2604.26262/) (2026)
- [NegROI: Click-Centric Uncertainty-Guided Refinement with Scene-Conditioned Negative Prompts for Robust Interactive 3D Segmentation](https://mlsanity.com/paper/2607.05955/) (2026)
- [UMAS3D: Unified Mask-Free 3D Editing with Region-Adaptive Source Preservation](https://mlsanity.com/paper/2610.15533/) (2026)

## Abstract (arXiv)

The increasing availability of digital 3D environments, whether through image-based 3D reconstruction, generation, or scans obtained by robots, is driving innovation across various applications. These come with a significant demand for 3D interaction, such as 3D Interactive Segmentation, which is useful for tasks like object selection and manipulation. Additionally, there is a persistent need for solutions that are efficient, precise, and performing well across diverse settings, particularly in unseen environments and with unfamiliar objects. In this work, we introduce a 3D interactive segmentation method that consistently surpasses previous state-of-the-art techniques on both in-domain and out-of-domain datasets. Our simple approach integrates a voxel-based sparse encoder with a lightweight transformer-based decoder that implements implicit click fusion, achieving superior performance and maximizing efficiency. Our method demonstrates substantial improvements on benchmark datasets, including ScanNet, ScanNet++, S3DIS, and KITTI-360, and also on unseen geometric distributions such as the ones obtained by Gaussian Splatting. The project web-page is available at https://simonelli-andrea.github.io/easy3d.