DyG-Seg: Unsupervised 3D Point Cloud Segmentation via Geometric Manifold Rectification

摘要

Unsupervised 3D semantic segmentation is vital for label-free open-world perception. However, current methods typically struggle with two core limitations: fixed category assumptions that restrict adaptability in complex scenes, and geometric incompleteness caused by irregular point sampling, which degrade the integrity of local geometric descriptors for fine-grained or long-tail objects. To address these, we propose DyG-Seg, a Dynamic Geometric-Semantic Alignment framework. First, targeting the challenge of incomplete geometry, the Geometric Manifold Rectification (GMR) leverages a diffusion model to reconstruct integral object geometry and recover the underlying manifold topology, thereby enhancing feature discriminability. Utilizing this geometric prior, the Dynamic Prototype Contrastive Clustering (DPCC) applies non-parametric Bayesian inference to automatically estimate the optimal number of clusters and generate pseudo-labels. Finally, our Iterative Optimization with Dynamic Constraints integrates Dynamic Class Balancing (DCB) to mitigate long-tail bias. Capitalizing on the recovered manifold topology, we enforce Spatial Geometric Consistency to rectify structural incompleteness and ensure spatially coherent semantic predictions. Extensive experiments on ScanNet and S3DIS demonstrate that DyG-Seg discovers latent semantic structures and significantly outperforms state-of-the-art unsupervised methods.