# Leveraging Depth and Language for Open-Vocabulary Domain-Generalized Semantic Segmentation

arXiv: https://arxiv.org/abs/2506.09881 · HTML: https://mlsanity.com/paper/2506.09881/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 51 of its 59 references that are in the map.
- First posted on arXiv 11 Jun 2025.

## Builds on (most cited first, 30 of 51)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Semantic Understanding of Scenes through the ADE20K Dataset](https://mlsanity.com/paper/1608.05442/) (2016)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [AdaptFormer: Adapting Vision Transformers for Scalable Visual Recognition](https://mlsanity.com/paper/2205.13535/) (2022)
- [Language-driven Semantic Segmentation](https://mlsanity.com/paper/2201.03546/) (2022)
- [EVA: Exploring the Limits of Masked Visual Representation Learning at Scale](https://mlsanity.com/paper/2211.07636/) (2022)
- [Extract Free Dense Labels from CLIP](https://mlsanity.com/paper/2112.01071/) (2021)
- [Open-Vocabulary Semantic Segmentation with Mask-adapted CLIP](https://mlsanity.com/paper/2210.04150/) (2022)
- [GroupViT: Semantic Segmentation Emerges from Text Supervision](https://mlsanity.com/paper/2202.11094/) (2022)
- [Scaling Open-Vocabulary Image Segmentation with Image-Level Labels](https://mlsanity.com/paper/2112.12143/) (2021)
- [Generalizing to Unseen Domains via Adversarial Data Augmentation](https://mlsanity.com/paper/1805.12018/) (2018)
- [EVA-02: A Visual Representation for Neon Genesis](https://mlsanity.com/paper/2303.11331/) (2023)
- [Open-Vocabulary Panoptic Segmentation with Text-to-Image Diffusion Models](https://mlsanity.com/paper/2303.04803/) (2023)
- [Two at Once: Enhancing Learning and Generalization Capacities via IBN-Net](https://mlsanity.com/paper/1807.09441/) (2018)
- [Generalized Decoding for Pixel, Image, and Language](https://mlsanity.com/paper/2212.11270/) (2022)
- [A Simple Baseline for Open-Vocabulary Semantic Segmentation with Pre-trained Vision-language Model](https://mlsanity.com/paper/2112.14757/) (2021)
- [CAT-Seg: Cost Aggregation for Open-Vocabulary Semantic Segmentation](https://mlsanity.com/paper/2303.11797/) (2023)
- [RobustNet: Improving Domain Generalization in Urban-Scene Segmentation via Instance Selective Whitening](https://mlsanity.com/paper/2103.15597/) (2021)
- [Convolutions Die Hard: Open-Vocabulary Segmentation with Single Frozen Convolutional CLIP](https://mlsanity.com/paper/2308.02487/) (2023)

## Built on by (most cited first, 2 of 2)

- [Semantic4Safety: Causal Insights from Zero-shot Street View Imagery Segmentation for Urban Road Safety](https://mlsanity.com/paper/2510.15434/) (2025)
- [Sparse All-Layer Connector for Domain Generalised Semantic Segmentation](https://mlsanity.com/paper/2610.15660/) (2026)

## Abstract (arXiv)

Open-Vocabulary semantic segmentation (OVSS) and domain generalization in semantic segmentation (DGSS) highlight a subtle complementarity that motivates Open-Vocabulary Domain-Generalized Semantic Segmentation (OV-DGSS). OV-DGSS aims to generate pixel-level masks for unseen categories while maintaining robustness across unseen domains, a critical capability for real-world scenarios such as autonomous driving in adverse conditions. We introduce Vireo, a novel single-stage framework for OV-DGSS that unifies the strengths of OVSS and DGSS for the first time. Vireo builds upon the frozen Visual Foundation Models (VFMs) and incorporates scene geometry via Depth VFMs to extract domain-invariant structural features. To bridge the gap between visual and textual modalities under domain shift, we propose three key components: (1) GeoText Prompts, which align geometric features with language cues and progressively refine VFM encoder representations; (2) Coarse Mask Prior Embedding (CMPE) for enhancing gradient flow for faster convergence and stronger textual influence; and (3) the Domain-Open-Vocabulary Vector Embedding Head (DOV-VEH), which fuses refined structural and semantic features for robust prediction. Comprehensive evaluation on these components demonstrates the effectiveness of our designs. Our proposed Vireo achieves the state-of-the-art performance and surpasses existing methods by a large margin in both domain generalization and open-vocabulary recognition, offering a unified and scalable solution for robust visual understanding in diverse and dynamic environments. Code is available at https://github.com/anonymouse-9c53tp182bvz/Vireo.