SaaF: Scene-Specific Ambiguity-Aware 3D Language Fields towards Interactive Real-World Object Retrieval
We propose Scene-specific Ambiguity-aware 3D Language Fields (SaaF), a novel Gaussian Splatting-based 3D language field designed for interactive object retrieval in a given real-world scene. Interactive object retrieval using natural language is a crucial capability for service robots operating in complex real-world environments. While recent 3D language field methods for object retrieval establish associations between rendered pixels and autoencoder-compressed CLIP features, they suffer from two limitations: (1) reduced discriminability among similar objects due to feature compression, and (2) poor handling of ambiguous queries, often resulting in unstable or incorrect retrieval. To addr...
| Authors | Yuga Yano, Daiju Kanaoka, Hakaru Tamukoh et al. |
|---|---|
| Primary category | cs.CV |
| Published | 14 July 2026 |
| Last updated at source | 14 July 2026 |
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