VOIM (Voxel‑Grounded Online Instance Manager) is a training‑free system that builds open‑vocabulary 3D instance maps from RGB‑D or monocular RGB input by deferring label and instance decisions until sufficient soft evidence accumulates per voxel across views. Across four perception configurations on ScanNet++, VOIM outperforms the strongest online RGB‑D system, OVO‑SLAM, by 4.8–11.7 mIoU, and achieves 44.07 mIoU under a like‑for‑like protocol, winning all ten scenes. The method also runs unchanged on monocular RGB, matching baseline performance on Replica, and produces exportable occupancy grids that support free‑form instance queries.
arXiv:2608. 07579v1 Announce Type: cross Abstract: The AI City Challenge 2026 Track 1 evaluates multi-camera 3D perception in large indoor warehouses under a synthetic-to-real (Sim2Real) setting; depth is available only for training and validation, so inference is RGB-only.
O3N is a novel framework that performs open‑vocabulary occupancy prediction from a single omnidirectional RGB image. It introduces a polar‑spiral voxel embedding (PsM) for continuous 360° spatial representation, an Occupancy Cost Aggregation (OCA) module that unifies geometric and semantic supervision, and a Natural Modality Alignment (NMA) pathway that aligns visual, voxel, and text features. Experiments show state‑of‑the‑art results on QuadOcc and Human360Occ benchmarks, with strong cross‑scene generalization and semantic scalability.
Classical image correspondence is solved at the level of sparse keypoints or dense pixels, but the systems that consume these matches - object-level mapping, topological navigation, scene-graph maintenance - reason about whole objects. Recent work narrows this gap by matchng directly at the level of instance segments: a class-agnostic segmenter partitions each image, and per-segment descriptors are obtained by pooling features from large 3D foundation models over the masks.
arXiv:2606. 24353v1 Announce Type: cross Abstract: Bird's-eye view (BEV) perception fuses multi-camera images into a unified top-down representation for autonomous driving.
As Multimodal Large Language Models (MLLMs) are increasingly deployed in decision-critical pipelines such as robotics, embodied AI, and safety monitoring, the opacity of their spatial judgments limits operator trust and auditability. MLLMs demonstrate strong reasoning but often struggle with fine-grained spatial understanding and object hallucination.
arXiv:2606. 18451v1 Announce Type: new Abstract: Single-image-to-3D generators are improving quickly, but there is no agreed, human-free way to tell whether one generated mesh is better than another.
arXiv:2607. 02561v1 Announce Type: cross Abstract: Consumer depth sensors such as the LiDAR scanner on recent iPhones provide metric range, but their useful range is short and their returns are sparse.
arXiv:2606. 29600v1 Announce Type: cross Abstract: A faithful 3D world representation should account for layered geometry, where a single camera ray may contain multiple visible and geometrically valid surfaces.
arXiv:2608. 07577v1 Announce Type: cross Abstract: A closed-set detector for autonomous driving must assign every object one of a fixed set of labels.
arXiv:2608.30821v1 Announce Type: cross Abstract: Composable scene modeling aims to recover a real indoor scene as complete, editable object assets arranged as observed, giving robot simulation and e...
arXiv:2607. 08970v1 Announce Type: cross Abstract: Recent benchmarks for VLMs largely assess single- or limited-view perception, leaving untested the core cognitive ability to integrate observations across viewpoints into a coherent, world-centric (allocentric) 3D mental model.
Deep-learning features excel in visual matching, yet their practical value in tightly coupled visual-inertial SLAM (VI-SLAM) remains insufficiently characterized. We present DL-VINS-Factory, a unified framework that integrates learned feature extractors (ALIKED, RaCo, SuperPoint, XFeat) with either Lucas--Kanade (LK) optical-flow tracking or LightGlue (LG) descriptor matching.