FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers

arXiv:2605.03669v1 Announce Type: cross Abstract: Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map, either at...