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G2P: Gaussian-to-Point Attribute Alignment for Boundary-Aware 3D Segmentation

Point cloud segmentation is critical for 3D scene understanding. However, sparse and irregular point distributions provide limited appearance evidence, making geometry-only features insufficient to distinguish objects with similar shapes but distinct appearances e.g., color, texture, and material. We propose Gaussian-to-Point (G2P), which transfers Gaussian attributes from 3D Gaussian Splatting to point clouds for more discriminative and appearance-consistent segmentation. Our G2P addresses the misalignment between optimized Gaussians and original point geometry by establishing point-wise correspondences. By distilling opacity-derived visibility cues, we mitigate the geometric ambiguity that limits existing models. Additionally, Gaussian scale attributes enable precise boundary localization in complex 3D scenes. Extensive experiments demonstrate that our approach achieves competitive performance on standard benchmarks and shows notable improvements on geometrically challenging classes, without pretrained 2D features or language supervision in our segmentation pipeline.

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