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[ICRA 2024 Oral] Open-Fusion: Real-time Open-Vocabulary 3D Mapping and Queryable Scene Representation

Home Page: https://uark-aicv.github.io/OpenFusion/

Python 88.36% Dockerfile 0.18% Shell 1.04% C++ 1.04% Cuda 9.37%

3d-reconstruction queryable vision-language icra2024

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sangtrx kuanghaofei paperwave alexandor91 benjamesbabala arebs23 zhangchneyu mishrasubhransu sergeyuil

openfusion's Issues

Listed minimum requirements vs. paper?

Thanks for the nice work! I am just wondering what the minimum requirements actually are for a room-sized environment

The paper says it runs in real-time on a 3060M (mobile) and as far as I know those usually come with only 6GB of VRAM. The repo instructions claims it needs 10+ GB but also seems to indicate that >5GB might work if the environment TSDF is small? Is there some tuning needed of the TSDF part to get this to work in a room-sized environment?

Quantitative evaluation

Hi, thanks for your great work. I wonder how to evaluate the segmentation result quantitatively as shown in table 2 of the paper?

Replica Evaluation Details

Great work! I will like to ask how did you perform the evaluation for the Replica dataset? Could you provide some guidance on how you obtained the pointclouds for Replica dataset and how you obtained the groundtruth labels? Thank you so much!

Complete Code Release

When will the complete code be released?

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