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cs.CV2025
KM-ViPE: Online Tightly Coupled Vision-Language-Geometry Fusion for Open-Vocabulary Semantic SLAM
Zaid Nasser, Mikhail Iumanov, Tianhao Li +7
We present KM-ViPE (Knowledge Mapping Video Pose Engine), a real-time open-vocabulary SLAM framework for uncalibrated monocular cameras in dynamic environments. Unlike systems requ…
cs.CV2025
OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions
Maxim Popov, Regina Kurkova, Mikhail Iumanov +2
Open Semantic Mapping (OSM) is a key technology in robotic perception, combining semantic segmentation and SLAM techniques. This paper introduces a dynamically configurable and hig…