OnlinePG: Online Open-Vocabulary Panoptic Mapping with 3D Gaussian Splatting

ArXi:2603.18510v1 Announce Type: new Open-vocabulary scene understanding with online panoptic mapping is essential for embodied applications to perceive and interact with environments. However, existing methods are predominantly offline or lack instance-level understanding, limiting their applicability to real-world robotic tasks. In this paper, we propose OnlinePG, a novel and effective system that integrates geometric reconstruction and open-vocabulary perception using 3D Gaussian Splatting in an online setting.