FHGS: Feature-Homogenized Gaussian Splatting
This addresses the challenge of integrating semantic features into 3D scene understanding for applications like robotics or AR/VR, though it appears incremental as it builds directly on 3DGS.
The paper tackles the problem of insufficient cross-view feature consistency in 3D Gaussian Splatting (3DGS) by proposing FHGS, a feature fusion framework that maps 2D features from pre-trained models to 3D scenes while maintaining real-time rendering efficiency.
Scene understanding based on 3D Gaussian Splatting (3DGS) has recently achieved notable advances. Although 3DGS related methods have efficient rendering capabilities, they fail to address the inherent contradiction between the anisotropic color representation of gaussian primitives and the isotropic requirements of semantic features, leading to insufficient cross-view feature consistency. To overcome the limitation, we proposes $\textit{FHGS}$ (Feature-Homogenized Gaussian Splatting), a novel 3D feature fusion framework inspired by physical models, which can achieve high-precision mapping of arbitrary 2D features from pre-trained models to 3D scenes while preserving the real-time rendering efficiency of 3DGS. Specifically, our $\textit{FHGS}$ introduces the following innovations: Firstly, a universal feature fusion architecture is proposed, enabling robust embedding of large-scale pre-trained models' semantic features (e.g., SAM, CLIP) into sparse 3D structures. Secondly, a non-differentiable feature fusion mechanism is introduced, which enables semantic features to exhibit viewpoint independent isotropic distributions. This fundamentally balances the anisotropic rendering of gaussian primitives and the isotropic expression of features; Thirdly, a dual-driven optimization strategy inspired by electric potential fields is proposed, which combines external supervision from semantic feature fields with internal primitive clustering guidance. This mechanism enables synergistic optimization of global semantic alignment and local structural consistency. More interactive results can be accessed on: https://fhgs.cuastro.org/.