Abstract
Training-free weighted aggregation is widely used to lift 2D semantic features onto 3D Gaussians for open-vocabulary scene understanding, yet its theoretical role remains insufficiently understood. Existing analyses typically justify this operation from the rendering side, treating Gaussian features as linearly composable Euclidean variables for reconstructing 2D feature maps. However, this view does not match downstream 3D usage, where each Gaussian is often queried independently in a cosine-based embedding space. We revisit feature lifting from the 3D side and formulate per-Gaussian assignment as a cosine alignment problem on the CLIP unit sphere. Under this objective, the L2-normalized semantic back-projected feature emerges as the closed-form solution, providing a complementary interpretation of the standard lifting rule from the perspective of per-Gaussian semantic assignment. The same formulation further yields a norm decomposition into intra-view and inter-view consistency, suggesting that feature magnitude itself can serve as a semantic reliability signal. Calibrated by effective multi-view support, this reliability score guides a mode-voting refinement that preserves CLIP feature validity by avoiding linear averaging. Experiments on open-vocabulary 3D semantic segmentation show that NormLift is an efficient, training-free framework that achieves strong performance across evaluation protocols.
Abstract (translated)
URL
https://arxiv.org/abs/2609.18898
