RayFronts: オンラインシーン理解と探索のためのオープンセット意味論的レイフロンティア
RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
距離内のボクセルと距離外のレイにオープンセット意味論を統合し、効率的な意味論的マッピングと探索を可能にする表現を提案。
著者: Omar Alama, Avigyan Bhattacharya, Haoyang He, Seungchan Kim, Yuheng Qiu, Wenshan Wang, Cherie Ho, Nikhil Keetha, Sebastian Scherer
分類: cs.RO, cs.AI, cs.CV, cs.LG
原文アブストラクト
Open-set semantic mapping is crucial for open-world robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settings, where overall they fail to combine within-range and beyond-range observations. Furthermore, these methods make a trade-off between fine-grained semantics and efficiency. We introduce RayFronts, a unified representation that enables both dense and beyond-range efficient semantic mapping. RayFronts encodes task-agnostic open-set semantics to both in-range voxels and beyond-range rays encoded at map boundaries, empowering the robot to reduce search volumes significantly and make informed decisions both within & beyond sensory range, while running at 8.84 Hz on an Orin AGX. Benchmarking the within-range semantics shows that RayFronts's fine-grained image encoding provides 1.34x zero-shot 3D semantic segmentation performance while improving throughput by 16.5x. Traditionally, online mapping performance is entangled with other system components, complicating evaluation. We propose a planner-agnostic evaluation framework that captures the utility for online beyond-range search and exploration, and show RayFronts reduces search volume 2.2x more efficiently than the closest online baselines.
