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PanoSeg3R: Feed-Forward 3D Semantic Segmentation for Panoramic Images with an Automatic Data Curation Pipeline

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

We present PanoSeg3R, a feed-forward framework for 3D panoramic semantic segmentation. Unlike existing methods designed for perspective inputs, PanoSeg3R jointly predicts 3D geometry and multi-view semantic segmentation in one single forward pass. Built upon a pretrained reconstruction backbone that supports panoramic images, our approach extends feed-forward 3D reconstruction with a query-based mask decoder. Furthermore, we introduce an automatic panorama data curation pipeline that leverages the complementary strengths of off-the-shelf foundation models to generate reliable pseudo semantic a

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