  The Segment Anything Model (SAM) has demonstrated its effectiveness in
segmenting any part of 2D RGB images. However, SAM exhibits a stronger emphasis
on texture information while paying less attention to geometry information when
segmenting RGB images. To address this limitation, we propose the Segment Any
RGBD (SAD) model, which is specifically designed to extract geometry
information directly from images. Inspired by the natural ability of humans to
identify objects through the visualization of depth maps, SAD utilizes SAM to
segment the rendered depth map, thus providing cues with enhanced geometry
information and mitigating the issue of over-segmentation. We further include
the open-vocabulary semantic segmentation in our framework, so that the 3D
panoptic segmentation is fulfilled. The project is available on
https://github.com/Jun-CEN/SegmentAnyRGBD.
