Sep 26, 2024 � LEGS is trained online as a robot traverses its environment to enable localization of open-vocabulary object queries. We evaluate LEGS on 4 room�...

We present a multi-camera mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS), a detailed 3D scene representation that encodes�...

LEGS incrementally registers images and simultaneously optimizes both 3D Gaussians and dense language fields. This allows robots to build maps that contain rich�...

LEGS incrementally registers images and simultaneously optimizes both 3D Gaussians and dense language fields. This allows robots to build maps that contain rich�...

Sep 26, 2024 � LEGS is trained online as a robot traverses its environment to enable localization of open-vocabulary object queries. We evaluate LEGS on 4 room�...

Sep 26, 2024 � The research paper proposes a new approach called Language-Embedded Gaussian Splats (LEGS) for incrementally building room-scale representations�...

我们提出了一种映射系统，能够逐步构建语言嵌入高斯分布（Language-Embedded Gaussian Splat, LEGS）：一种详细的三维场景表示，将外观和语义编码为统一表示。LEGS 在机器人行进�...

Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that�...

@inproceedings{yu2024legs, title={Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot} ... Robots and�...

Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot. J Yu, K Hari, K Srinivas, K El-Refai, A�...