FreeOcc enables training-free open-vocabulary 3D occupancy prediction from RGB-D sequences by combining SLAM, dense Gaussian maps, off-the-shelf vision-language models, and probabilistic projection, achieving over 2x gains on benchmarks and zero-shot transfer to novel scenes.
Neds-slam: A neural explicit dense semantic slam framework using 3d gaussian splat- ting.IEEE Robotics and Automation Letters, 9(10): 8778–8785, October 2024
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FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
FreeOcc enables training-free open-vocabulary 3D occupancy prediction from RGB-D sequences by combining SLAM, dense Gaussian maps, off-the-shelf vision-language models, and probabilistic projection, achieving over 2x gains on benchmarks and zero-shot transfer to novel scenes.