VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM

Sangmin Song, Sarath Kodagoda, Marc G. Carmichael +4

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…