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VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM
We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular RGB alone, a regime no prior training-free system addresses. Online systems typically segment object instances and label
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