3Dガウシアンスプラッティングによる能動的オープンボキャブラリ意味マッピング
AOV-GS: Active Open-Vocabulary Semantic Mapping with 3D Gaussian Splatting
凍結したSAMとCLIPを使い、意味的新規性で探索を誘導しながら3Dガウシアン地図を構築し、テキストクエリで問い合わせ可能なオープンボキャブラリ意味マップを実現した研究。
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著者: Rodion Shkokov, Tatiana Zemskova, Dmitry Yudin
分類: cs.CV, cs.RO
原文アブストラクト
Robots deployed in human-centered environments need maps that support both geometric navigation and open-vocabulary semantic queries beyond a fixed label set. A key challenge is enriching such maps with semantic information without relying on manually annotated segmentation masks or closed-set semantic categories. Existing geometry-driven active mapping maximizes coverage but treats semantics as a passive by-product of the collected trajectory, whereas active semantic mapping typically depends on supervised semantic segmentation. We present AOV-GS, an active 3D Gaussian mapping system that guides exploration using frozen foundation models. During coarse exploration, AOV-GS re-ranks geometrically promising candidate views according to CLIP mask-embedding novelty computed from SAM instance segmentation, biasing exploration toward semantically informative regions. Frozen SAM and CLIP provide instance masks and language-aligned embeddings throughout mapping, while a lightweight scene-specific language field is fitted offline directly to the collected CLIP embeddings rather than manually annotated masks, enabling open-vocabulary text-query segmentation on novel views. In a controlled comparison using the same SAM-CLIP perception stack, AOV-GS improves average language-field mIoU over geometry-only active planning by 1.3 percentage points on Replica (34.6% on eight scenes) and by 1.8 points on Matterport3D (23.1% on five scenes). With CorrCLIP, AOV-GS reaches 35.6% on Replica, 2.0 points above the matched Geometry-based + CorrCLIP baseline. Novel-view PSNR remains comparable to the geometry-only baseline on both datasets while depth L1 improves on Replica. Code is available at https://github.com/OptimusFaber/AOV-GS.