Recently, distilling open-vocabulary language features from 2D images into 3D Gaussians has attracted significant attention. Although existing methods achieve impressive language-based interactions of 3D scenes, we observe two fundamental issues: background Gaussians contributing negligibly to a rendered pixel get the same feature as the dominant foreground ones, and multi-view inconsistencies due to view-specific noise in language embeddings. We introduce Visibility-Aware Language Aggregation (VALA), a lightweight yet effective method that computes marginal contributions for each ray and applies a visibility-aware gate to retain only visible Gaussians. Moreover, we propose a streaming weighted geometric median in cosine space to merge noisy multi-view features. Our method yields a robust, view-consistent language feature embedding in a fast and memory-efficient manner. VALA improves open-vocabulary localization and segmentation across reference datasets, consistently surpassing existing works. More results are available at https://vala3d.github.io
@article{arxiv.2509.05515,
title = {Visibility-Aware Language Aggregation for Open-Vocabulary Segmentation in 3D Gaussian Splatting},
author = {Sen Wang and Kunyi Li and Siyun Liang and Elena Alegret and Jing Ma and Nassir Navab and Stefano Gasperini},
journal= {arXiv preprint arXiv:2509.05515},
year = {2026}
}