An asynchronous architecture decouples incremental voxel-based mapping from VLM-based semantic enrichment to produce queryable open-vocabulary 3D scene graphs that match or exceed prior methods on segmentation and grounding benchmarks.
In: 2017 IEEE International Conference on Robotics and Au- tomation (ICRA)
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Think While You Map: Asynchronous Vision-Language Agents for Incremental 3D Scene Graphs
An asynchronous architecture decouples incremental voxel-based mapping from VLM-based semantic enrichment to produce queryable open-vocabulary 3D scene graphs that match or exceed prior methods on segmentation and grounding benchmarks.