arXiv Computer Vision August 26, 2026 By Mengfei Duan, Hao Shi, Fei Teng, Guoqiang Zhao, Yuheng Zhang, Zhiyong Li, Kailun Yang

O3N: Omnidirectional Open-Vocabulary Occupancy Prediction for Embodied Intelligent Robotics

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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.

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