Self-Supervised Text-Driven Point Cloud Upsampling via Semantic Text Guidance

Point cloud upsampling is a fundamental task in 3D vision, yet most existing methods adopt a global and uniform strategy, which is computationally inefficient and fails to address the need for region-specific refinement. To address this challenge, we propose PartSPUNet, a novel self-supervised, text-driven point cloud upsampling framework designed to enhance robotic perception through task-oriented local refinement. Inspired by the human cognitive process where high-level language instructions guide visual attention to specific regions of interest, our method allows an operator to use intuitive natural language prompts to direct the upsampling process. Specifically, PartSPUNet leverages a pretrained vision–language model to zero-shot localize the user-specified semantic part within a sparse point cloud. It then performs geometry-aware densification exclusively on this target region, recovering rich geometric details while preserving the global structure. Experimental results demonstrate that our approach significantly outperforms existing methods in reconstructing specified areas, offering a powerful and intuitive tool for enhancing the 3D perception pipeline in intelligent robotic systems.