ActiveLang: Active Open-Vocabulary 3D Mapping with Semantic-Uncertainty-Guided Exploration
As robots increasingly assist humans with diverse tasks, they need both geometric and semantic understanding of their surroundings. Moreover, robots often operate in unfamiliar environments and take on new tasks without knowing the relevant concepts ahead of time. This motivates language-annotated 3D maps that support open-vocabulary scene understanding and human-robot interaction. We introduce ActiveLang, an autonomous system for active open-vocabulary 3D mapping with semantic-uncertainty-guided exploration. ActiveLang performs online language-feature adaptation on a compact dual-Gaussian representation to jointly reconstruct scene geometry, appearance, and open-vocabulary semantics with...
| Authors | Liyan Chen, Hairong Yin, Huangying Zhan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 7 October 2026 |
| Last updated at source | 7 October 2026 |
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