Open-Fusion: Real-time Open-Vocabulary 3D Mapping and Queryable Scene Representation
Kashu Yamazaki,Taisei Hanyu,Khoa Vo,Thang Pham,Minh Tran,Gianfranco Doretto,Anh Nguyen,Ngan Le,Kashu Yamazaki,Taisei Hanyu,Khoa Vo,Thang Pham,Minh Tran,Gianfranco Doretto,Anh Nguyen,Ngan Le
Precise 3D environmental mapping with semantics is essential in robotics. Existing methods often rely on pre-defined concepts during training or are time-intensive when generating semantic maps. This paper presents Open-Fusion, an approach for real-time open-vocabulary 3D mapping and queryable scene representation using RGB-D data. Open-Fusion harnesses the power of a pretrained vision-language fo...
