OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments

arXiv:2403.09412v1 Announce Type: new
Abstract: Environment maps endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out various tasks. Open-vocabulary maps, powered by Visual-Language models (VLMs), possess inherent advantages, including multimodal retrieval and open-set classes. However, existing open-vocabulary maps are constrained to closed indoor scenarios and VLM features, thereby diminishing their usability and inference capabilities. Moreover, the absence of topological relationships further complicates the accurate querying of specific instances. In …

arxiv cs.ai cs.cv cs.ro environments graph graph representation hierarchical representation scale type