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Where Appearance Fails, Geometry Recognizes: A CAD-Free 3D Shape Prior That Complements Vision Foundation Models

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Recognizing specific objects onboarded without a labeled training set recurs across manufacturing and service robotics, yet the conventional renderable prior, a computer-aided-design (CAD) model, is often unavailable. Two-dimensional capture supplies no shape prior, and frozen foundation features fail on geometrically similar, low-texture industrial parts. We ask what a short object-centric scan buys for recognition beyond the captured images themselves: each object is reconstructed with 3D Gaussian Splatting (3DGS), summarized into a per-class shape prototype, and fused with frozen DINOv2 ima

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