ActiveLang: 意味的不確かさに導かれる探索による能動的オープンボキャブラリ3Dマッピング
ActiveLang: Active Open-Vocabulary 3D Mapping with Semantic-Uncertainty-Guided Exploration
意味的不確かさを手がかりに視点を選び、言語注釈付き3Dマップを効率的に構築する能動的オープンボキャブラリマッピングシステムを提案。
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著者: Liyan Chen, Hairong Yin, Huangying Zhan, Yi Xu, Raymond A. Yeh, Philippos Mordohai
分類: cs.CV, cs.RO
原文アブストラクト
As robots increasingly assist humans with diverse tasks, they need both geometric and semantic understanding of their surroundings. Moreover, robots often operate in unfamiliar environments and take on new tasks without knowing the relevant concepts ahead of time. This motivates language-annotated 3D maps that support open-vocabulary scene understanding and human-robot interaction. We introduce ActiveLang, an autonomous system for active open-vocabulary 3D mapping with semantic-uncertainty-guided exploration. ActiveLang performs online language-feature adaptation on a compact dual-Gaussian representation to jointly reconstruct scene geometry, appearance, and open-vocabulary semantics with modest memory overhead. Its planner efficiently selects informative viewpoints, enabling effective mapping with fewer observations and lower computational cost. Experiments on Replica and ScanNet++ demonstrate substantial improvements in 2D and 3D open-vocabulary segmentation over both online and offline baselines, highlighting that actively exploring scenes builds language-annotated 3D maps more efficiently.