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simmediummobile-manipulationmetric · varies
Real-Time 3D Vision-Language Embedding Mapping
Description
A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time. We combine a local embedding masking strategy, for a more distinct embedding distribution, with a confidence-weighted 3D integration for more reliable 3D embeddings. The resulting metric-accurate embedding representation is task-agnostic and can represent sema