Related papers: OVI-MAP:Open-Vocabulary Instance-Semantic Mapping

Audio-visual segmentation aims to separate sounding objects from videos by predicting pixel-level masks based on audio signals. Existing methods primarily concentrate on closed-set scenarios and direct audio-visual alignment and fusion,…

Open-Vocabulary Segmentation (OVS) aims to segment image regions beyond predefined category sets by leveraging semantic descriptions. While CLIP based approaches excel in semantic generalization, they frequently lack the fine-grained…

This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the computer graphics community, such as OpenVDB, have…

Segmenting and recognizing diverse object parts is a crucial ability in applications spanning various computer vision and robotic tasks. While significant progress has been made in object-level Open-Vocabulary Semantic Segmentation (OVSS),…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

The ability to recognize, localize and track dynamic objects in a scene is fundamental to many real-world applications, such as self-driving and robotic systems. Yet, traditional multiple object tracking (MOT) benchmarks rely only on a few…

Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based…

Autonomous mobile robots deployed in urban environments must be context-aware, i.e., able to distinguish between different semantic entities, and robust to occlusions. Current approaches like semantic scene completion (SSC) require…

In this work, we propose an open-vocabulary object detection method that, based on image-caption pairs, learns to detect novel object classes along with a given set of known classes. It is a two-stage training approach that first uses a…

Open vocabulary 3D object detection (OV3D) allows precise and extensible object recognition crucial for adapting to diverse environments encountered in assistive robotics. This paper presents OpenNav, a zero-shot 3D object detection…

Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Existing zero-shot methods often reason over dense frontier points under incomplete observations, causing…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

From image-text pairs, large-scale vision-language models (VLMs) learn to implicitly associate image regions with words, which prove effective for tasks like visual question answering. However, leveraging the learned association for…

To identify objects beyond predefined categories, open-vocabulary aerial object detection (OVAD) leverages the zero-shot capabilities of visual-language models (VLMs) to generalize from base to novel categories. Existing approaches…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

Open-vocabulary Video Instance Segmentation (OpenVIS) can simultaneously detect, segment, and track arbitrary object categories in a video, without being constrained to categories seen during training. In this work, we propose InstFormer, a…

Open Semantic Mapping (OSM) is a key technology in robotic perception, combining semantic segmentation and SLAM techniques. This paper introduces a dynamically configurable and highly automated LLM/LVLM-powered pipeline for evaluating OSM…

Open-vocabulary remote sensing image segmentation (OVRSIS) remains underexplored due to fragmented datasets, limited training diversity, and the lack of evaluation benchmarks that reflect realistic geospatial application demands. Our…

Open-vocabulary 3D object detection has recently attracted considerable attention due to its broad applications in autonomous driving and robotics, which aims to effectively recognize novel classes in previously unseen domains. However,…

Recent advances in foundational Vision Language Models (VLMs) have reshaped the evaluation paradigm in computer vision tasks. These foundational models, especially CLIP, have accelerated research in open-vocabulary computer vision tasks,…