OV-MAP: Open-Vocabulary Zero-Shot 3D Instance Segmentation Map for Robots

arXiv:2506.11585 · cs.CV, cs.AI · Submitted 2025-06-13 · Read on arXiv

cs.CV, cs.AI

Submitted: 2025-06-13

Updated: 2026-09-22

Comments: IROS 2024 | Project page: https://teamrobi.github.io/projects/ov-map

Journal ref: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 13780-13786

DOI: 10.1109/IROS58592.2024.10801841

Project page: https://teamrobi.github.io/projects/ov-map

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Instance Segmentation — 29× in this paper · explained in 3 episodes
• Adaptability — 6× in this paper · explained in 1 episode
• Point Clouds — 6× in this paper · explained in 2 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Mask Generation — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Generalization — 3× in this paper · explained in 13 episodes
• Point Cloud Data — 3× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• ConceptFusion: Open-set Multimodal 3D Mapping
• OpenMask3D: Open-Vocabulary 3D Instance Segmentation
• SAM3D: Segment Anything in 3D Scenes
• High-Quality Entity Segmentation
• The Replica Dataset: A Digital Replica of Indoor Spaces
• Language-driven Semantic Segmentation
• CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation
• Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models

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