FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866911648470532096 |
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| author | Homberger, Timon Busch, Finn Lukas Peimbert, Jesús Gerardo Ortega Yang, Quantao Andersson, Olov |
| author_facet | Homberger, Timon Busch, Finn Lukas Peimbert, Jesús Gerardo Ortega Yang, Quantao Andersson, Olov |
| contents | Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map, either at the instance-level via segmenting views and encoding image crops of segments, or by projecting image patch embeddings directly into a dense semantic map. The latter approach sidesteps segmentation and 2D-to-3D instance association by operating on full uncropped image frames, but existing methods remain limited in scalability. We present FUS3DMaps, an online dual-layer semantic mapping method that jointly maintains both dense and instance-level open-vocabulary layers within a shared voxel map. This design enables further voxel-level semantic fusion of the layer embeddings, combining the complementary strengths of both semantic mapping approaches. We find that our proposed semantic cross-layer fusion approach improves the quality of both the instance-level and dense layers, while also enabling a scalable and highly accurate instance-level map where the dense layer and cross-layer fusion are restricted to a spatial sliding window. Experiments on established 3D semantic segmentation benchmarks as well as a selection of large-scale scenes show that FUS3DMaps achieves accurate open-vocabulary semantic mapping at multi-story building scales. Additional material and code will be made available: https://githanonymous.github.io/FUS3DMaps/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_03669 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers Homberger, Timon Busch, Finn Lukas Peimbert, Jesús Gerardo Ortega Yang, Quantao Andersson, Olov Robotics Artificial Intelligence Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map, either at the instance-level via segmenting views and encoding image crops of segments, or by projecting image patch embeddings directly into a dense semantic map. The latter approach sidesteps segmentation and 2D-to-3D instance association by operating on full uncropped image frames, but existing methods remain limited in scalability. We present FUS3DMaps, an online dual-layer semantic mapping method that jointly maintains both dense and instance-level open-vocabulary layers within a shared voxel map. This design enables further voxel-level semantic fusion of the layer embeddings, combining the complementary strengths of both semantic mapping approaches. We find that our proposed semantic cross-layer fusion approach improves the quality of both the instance-level and dense layers, while also enabling a scalable and highly accurate instance-level map where the dense layer and cross-layer fusion are restricted to a spatial sliding window. Experiments on established 3D semantic segmentation benchmarks as well as a selection of large-scale scenes show that FUS3DMaps achieves accurate open-vocabulary semantic mapping at multi-story building scales. Additional material and code will be made available: https://githanonymous.github.io/FUS3DMaps/. |
| title | FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2605.03669 |