OnlinePG: Online Open-Vocabulary Panoptic Mapping with 3D Gaussian Splatting
Open-vocabulary scene understanding with online panoptic mapping is essential for embodied applications to perceive and interact with environments. However, existing methods are predominantly offline or lack instance-level understanding, limiting their applicability to real-world robotic tasks. In this paper, we propose OnlinePG, a novel and effective system that integrates geometric reconstruction and open-vocabulary perception using 3D Gaussian Splatting in an online setting. Technically, to achieve online panoptic mapping, we employ an efficient local-to-global paradigm with a sliding window. To build local consistency map, we construct a 3D segment clustering graph that jointly levera...
| Authors | Hongjia Zhai, Qi Zhang, Xiaokun Pan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 19 March 2026 |
| Last updated at source | 19 March 2026 |
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