OVI-MAP:Open-Vocabulary Instance-Semantic Mapping
Incremental open-vocabulary 3D instance-semantic mapping is essential for autonomous agents operating in complex everyday environments. However, it remains challenging due to the need for robust instance segmentation, real-time processing, and flexible open-set reasoning. Existing methods often rely on the closed-set assumption or dense per-pixel language fusion, which limits scalability and temporal consistency. We introduce OVI-MAP that decouples instance reconstruction from semantic inference. We propose to build a class-agnostic 3D instance map that is incrementally constructed from RGB-D input, while semantic features are extracted only from a small set of automatically selected view...
| Authors | Zilong Deng, Federico Tombari, Marc Pollefeys et al. |
|---|---|
| Primary category | cs.CV |
| Published | 27 March 2026 |
| Last updated at source | 27 March 2026 |
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