# Retrieving Objects from 3D Scenes with Box-Guided Open-Vocabulary Instance Segmentation

arXiv: https://arxiv.org/abs/2512.19088 · HTML: https://mlsanity.com/paper/2512.19088/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 32 references that are in the map.
- First posted on arXiv 22 Dec 2025.

## Builds on (most cited first, 21 of 21)

- [Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervision](https://mlsanity.com/paper/2102.05918/) (2021)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [Structured 3D Latents for Scalable and Versatile 3D Generation](https://mlsanity.com/paper/2412.01506/) (2024)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [YOLO-World: Real-Time Open-Vocabulary Object Detection](https://mlsanity.com/paper/2401.17270/) (2024)
- [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)
- [A Simple Framework for Open-Vocabulary Segmentation and Detection](https://mlsanity.com/paper/2303.08131/) (2023)
- [OpenShape: Scaling Up 3D Shape Representation Towards Open-World Understanding](https://mlsanity.com/paper/2305.10764/) (2023)
- [Open3DIS: Open-Vocabulary 3D Instance Segmentation with 2D Mask Guidance](https://mlsanity.com/paper/2312.10671/) (2023)
- [DetCLIPv2: Scalable Open-Vocabulary Object Detection Pre-training via Word-Region Alignment](https://mlsanity.com/paper/2304.04514/) (2023)
- [SAI3D: Segment Any Instance in 3D Scenes](https://mlsanity.com/paper/2312.11557/) (2023)
- [OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data](https://mlsanity.com/paper/2311.02873/) (2023)
- [ISBNet: a 3D Point Cloud Instance Segmentation Network with Instance-aware Sampling and Box-aware Dynamic Convolution](https://mlsanity.com/paper/2303.00246/) (2023)
- [LP-OVOD: Open-Vocabulary Object Detection by Linear Probing](https://mlsanity.com/paper/2310.17109/) (2023)
- [Global-Local Attention for Emotion Recognition](https://mlsanity.com/paper/2111.04129/) (2021)
- [Any3DIS: Class-Agnostic 3D Instance Segmentation by 2D Mask Tracking](https://mlsanity.com/paper/2411.16183/) (2024)
- [Details Matter for Indoor Open-vocabulary 3D Instance Segmentation](https://mlsanity.com/paper/2507.23134/) (2025)

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

- [SpaCeFormer: Fast Proposal-Free Open-Vocabulary 3D Instance Segmentation](https://mlsanity.com/paper/2604.20395/) (2026)
- [RI-Mamba: Rotation-Invariant Mamba for Robust Text-to-Shape Retrieval](https://mlsanity.com/paper/2602.11673/) (2026)

## Abstract (arXiv)

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent methods demonstrate strong performance, they depend heavily on SAM and CLIP to generate and classify 3D instance masks from images accompanying the point cloud, leading to substantial computational overhead and slow processing that limit their deployment in real-world settings. Open-YOLO 3D alleviates this issue by using a real-time 2D detector to classify class-agnostic masks produced directly from the point cloud by a pretrained 3D segmenter, eliminating the need for SAM and CLIP and significantly reducing inference time. However, Open-YOLO 3D often fails to generalize to object categories that appear infrequently in the 3D training data. In this paper, we propose a method that generates 3D instance masks for novel objects from RGB images guided by a 2D open-vocabulary detector. Our approach inherits the 2D detector's ability to recognize novel objects while maintaining efficient classification, enabling fast and accurate retrieval of rare instances from open-ended text queries. Our code will be made available at https://github.com/ndkhanh360/BoxOVIS.