PCMTRefer: Symmetry-Aware Text-Guided Point Mamba for Referring Segmentation in Indoor 3D Point Clouds

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Indoor 3D referring segmentation aims to identify and segment the target object in a point cloud according to a natural language expression. Although recent advances in multimodal feature fusion have markedly improved this task, existing methods do not jointly model the structural regularities commonly observed in indoor objects, such as approximate symmetry and repetitive local patterns, in conjunction with the directional constraints conveyed by referring expressions. In this work, we formulate symmetry-aware representation as the extraction of direction-consistent structural responses from both forward and backward traversals of the same spatially ordered sequence while preserving direction-sensitive variations introduced by occlusion, point cloud incompleteness, and cluttered scene layouts. Based on this formulation, we propose PCMTRefer, a symmetry-aware text-guided Point Mamba framework for indoor 3D referring segmentation. The input point cloud is first partitioned using an octree and arranged into a spatially coherent sequence via Z-order (Morton) ordering. A bidirectional state-space encoder then aggregates complementary context from both traversal directions, yielding richer representations of regular boundaries, repetitive structures, and approximately bilateral object geometries. In parallel, an asymmetric text-to-point guidance module injects semantic cues—object categories, attributes, and spatial relationships—into point-wise features, while a Background-Relaxation Token offers an auxiliary matching channel for non-target background regions. A Gumbel-Softmax-based semantic primitive learning module further extracts discriminative cues from referring expressions and integrates language semantics with point-level geometric features through a multi-scale decoder. Experimental results on the ScanRefer benchmark show that PCMTRefer achieves an Overall Acc@0.25 of 58.56%, an Overall Acc@0.5 of 54.19%, and an mIoU of 49.97%. Multi-seed validation further confirms the statistical stability of these results, with standard deviations of less than 0.2% across three independent runs.

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