RADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments
We present RADIO-ViPE (Reduce All Domains Into One -- Video Pose Engine), an online semantic SLAM system that enables geometry-aware open-vocabulary grounding, associating arbitrary natural language queries with localized 3D regions and objects in dynamic environments. Unlike existing approaches that require calibrated, posed RGB-D input, RADIO-ViPE operates directly on raw monocular RGB video streams, requiring no prior camera intrinsics, depth sensors, or pose initialization. The system tightly couples multi-modal embeddings -- spanning vision and language -- derived from agglomerative foundation models (e.g., RADIO) with geometric scene information. This coupling takes place in initial...
| Authors | Zaid Nasser, Mikhail Iumanov, Tianhao Li et al. |
|---|---|
| Primary category | cs.CV |
| Published | 28 April 2026 |
| Last updated at source | 28 April 2026 |
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