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ZVeC: A Zero-Shot Framework for Instance-Level Vehicle Extraction and Generative Point Cloud Completion

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

LiDAR point clouds acquired in underground environments exhibit severe geometric incompleteness due to occlusions and limited sensor viewpoints, making reliable point cloud completion challenging without large supervised datasets. We propose ZVeC, a zero-shot, instance-driven framework that reformulates scene-level completion as compositional object-level reconstruction. By decomposing a scene into semantic object instances, ZVeC reduces reconstruction ambiguity in cluttered environments while eliminating the need for scenario-specific training. Each segmented vehicle is completed independentl

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