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

Understand

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 features to create an open-vocabulary field, thus allowing for local updates during online training process.