Mapping the Unseen: Unified Promptable Panoptic Mapping with Dynamic Labeling using Foundation Models

arXiv:2405.02162v1 Announce Type: new
Abstract: In the field of robotics and computer vision, efficient and accurate semantic mapping remains a significant challenge due to the growing demand for intelligent machines that can comprehend and interact with complex environments. Conventional panoptic mapping methods, however, are limited by predefined semantic classes, thus making them ineffective for handling novel or unforeseen objects. In response to this limitation, we introduce the Unified Promptable Panoptic Mapping (UPPM) method. UPPM utilizes recent advances in foundation models …

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