PanOVOcc: Panoramic Embodied Open-Vocabulary Occupancy Mapping with Long-term Spatial Voxel Memory

arXiv:2609.31716 · cs.CV, cs.RO, eess.IV · Submitted 2026-09-21 · Read on arXiv

cs.CV, cs.RO, eess.IV

Submitted: 2026-09-21

Updated: 2026-09-21

Code: https://github.com/bakereet/PanOVOcc

Terminology

• Benchmark — 17× in this paper · explained in 2 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Accuracy — 5× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Training-Free Framework — 3× in this paper · explained in 2 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Distillation — 2× in this paper · explained in 2 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Provenance — 1× in this paper · explained in 4 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Self-Distillation — 1× in this paper · explained in 7 episodes
• Semantic Understanding — 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

• GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
• VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding
• Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots
• O3N: Omnidirectional Open-Vocabulary Occupancy Prediction for Urban Autonomous Agents
• The Replica Dataset: A Digital Replica of Indoor Spaces

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