CoGaussian: Open-Vocabulary Gaussian-based Collaborative 3D Scene Understanding

Om Shivam Verma, Shaya Farahmand, Lingjun Zhao, Lu Gan · 2026 · arXiv

DOI: 10.48550/arXiv.2610.28530 · open-access PDF

Abstract

Collaborative perception enables agents to retrieve the scene semantics and geometry beyond the field of view of any individual agent. This broader scene understanding enhances transportation safety and improves efficiency in multi-robot systems. However, existing collaborative semantic occupancy methods rely on dense 3D voxel annotations and are limited to recognizing objects within a predefined set of semantic classes. To overcome these limitations, we present CoGaussian, an open-vocabulary Gaussian-based collaborative semantic occupancy prediction framework. CoGaussian represents a scene as

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