A Scene Language Model for Open-Vocabulary Scene Mapping
Open-vocabulary 3D scene mapping aims to build a persistent representation of the objects in an environment. Existing systems typically rely on engineered mapping pipelines to associate observations, merge information across views, and maintain a consistent scene representation over time. Many additionally store feature-rich object representations, such as embeddings or image crops, increasing the size and complexity of the persistent memory. We introduce SceneLM, a Scene-Language Model that directly maintains a textual scene map. The full scene is represented as a structured text list of objects, which serves as the model's only persistent memory. For each input image, the model reads th...
| Authors | Adam Lilja, Fabio Hübel, Siming He et al. |
|---|---|
| Primary category | cs.CV |
| Published | 18 September 2026 |
| Last updated at source | 18 September 2026 |
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