DualMap: Online Open-Vocabulary Semantic Mapping for Natural Language Navigation in Dynamic Changing Scenes
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to changing environments, DualMap meets the essential requirements for real-world robot navigation applications. Our proposed hybrid segmentation frontend and object-level status check eliminate the costly 3D object merging required by prior methods, enabling efficient online scene mapping. The dual-map representation combines a global abstract map for high-level candidate selection with a local concrete map for precise goal-reaching, effectively managing and updating dynamic changes in the environment. Through extensive experiments in both simulation and real-world scenarios, we demonstrate state-of-the-art performance in 3D open-vocabulary segmentation, efficient scene mapping, and online language-guided navigation.
Code (1)
Tasks
Natural Language QueriesNavigateRobot NavigationSimilar Papers 제목 키워드 기반
O2V-Mapping: Online Open-Vocabulary Mapping with Neural Implicit Representation
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 …
Image SegmentationObjectObject LocalizationScene Understanding+2OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation
Open-vocabulary 3D scene graphs provide compact semantic memory for language-guided navigation, but mapped objects are often exposed through a single fused feature or committed semantic label. Such commitment can remove …
Open-Vocabulary Online Semantic Mapping for SLAM
This paper presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO. Given a sequence of posed RGB-D frames, we detect and track 3D segments, which we describe using CLIP vectors…
SegmentationSemantic SLAMSimultaneous Localization and MappingOVI-MAP:Open-Vocabulary Instance-Semantic Mapping
Incremental open-vocabulary 3D instance-semantic mapping is essential for autonomous agents operating in complex everyday environments. However, it remains challenging due to the need for robust instance segmentation, re…
Instance SegmentationOnlinePG: Online Open-Vocabulary Panoptic Mapping with 3D Gaussian Splatting
Open-vocabulary scene understanding with online panoptic mapping is essential for embodied applications to perceive and interact with environments. However, existing methods are predominantly offline or lack instance-lev…
Scene Understanding