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arXiv · 2610.00970

RelationVGGT: Visual Geometry Transformers for 3D Spatial Relation Segmentation

Minsu Kim·Jaesung Choe·Jiwoo Lee·Yu-Chiang Frank Wang·Seon Joo Kim
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Abstract

Recent advances in 3D reconstruction have progressed from per-scene optimization to feed-forward inference, and semantic scene understanding has followed suit -- yet existing methods remain confined to object-centric perception, neglecting spatial relations between objects. We formulate 3D spatial relation segmentation in a feed-forward, pose-free multi-view setting: given a visually specified subject and a relational text query, the model segments the target across views without receiving its category name. To this end, we propose RelationVGGT, a novel feed-forward framework that integrates semantic features from a visual foundation model with geometry-aware representations from a 3D geometry foundation model and leverages a relation transformer for subject-conditioned, cross-view relation prediction -- requiring neither per-scene optimization nor known camera poses. We additionally provide a fully automated annotation pipeline built on ScanNet++ with VLMs and LLMs, enabling scalable training data generation for this new task.

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Minsu Kim, Jaesung Choe, Jiwoo Lee, Yu-Chiang Frank Wang, Seon Joo Kim. 2026-10-01. RelationVGGT: Visual Geometry Transformers for 3D Spatial Relation Segmentation. https://arxiv.org/abs/2610.00970

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