A zero-shot pipeline using SAM on colorized depth images, entropy-weighted DINOv2 attention filtering, and K-Medoids point prompts accurately segments unseen objects in cluttered indoor robot environments.
Learning rgb-d feature embeddings for unseen object instance segmentation,
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ZISVFM: Zero-Shot Object Instance Segmentation in Indoor Robotic Environments with Vision Foundation Models
A zero-shot pipeline using SAM on colorized depth images, entropy-weighted DINOv2 attention filtering, and K-Medoids point prompts accurately segments unseen objects in cluttered indoor robot environments.