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Dynamic-Robust Photometric-Semantic Reconstruction for Open-Vocabulary 3D Scene Understanding

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

The integration of novel view synthesis (NVS) and open-vocabulary segmentation (OVS) has recently yielded powerful feed-forward 3D foundation models. However, their inherent reliance on static-scene assumptions leads to severe misalignment of spatial features in unconstrained dynamic environments. To bridge this critical gap, we propose SPAR, a novel joint semantic-geometric encoding architecture that explicitly isolates transient dynamic noise prior to latent space aggregation. Furthermore, we introduce a dynamic-region-aware end-to-end training paradigm that structurally couples motion estim

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