O2V-Mapping: Online Open-Vocabulary Mapping with Neural Implicit Representation

arXiv:2404.06836v1 Announce Type: new
Abstract: Online construction of open-ended language scenes is crucial for robotic applications, where open-vocabulary interactive scene understanding is required. Recently, neural implicit representation has provided a promising direction for online interactive mapping. However, implementing open-vocabulary scene understanding capability into online neural implicit mapping still faces three challenges: lack of local scene updating ability, blurry spatial hierarchical semantic segmentation and difficulty in maintaining multi-view consistency. To this end, we proposed O2V-mapping, which utilizes voxel-based language and geometric …

abstract applications arxiv capability challenges construction cs.cv however interactive language mapping representation robotic type understanding