165592 20260112132216.0 doi 10.1109/LRA.2025.3617736 sideral 147252 ART-2025-147252 eng Berriel Martins, Tomás Universidad de Zaragoza (orcid)0000-0002-2555-374X Open-Vocabulary Online Semantic Mapping for SLAM 2025 This letter presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO. Given a sequence of posed RGB-D frames, we detect and track 3D segments, which we describe using CLIP vectors. These are computed from the viewpoints where they are observed by a novel CLIP merging method. Notably, our OVO has a significantly lower computational and memory footprint than offline baselines, while also showing better segmentation metrics than offline and online ones. Along with superior segmentation performance, we also show experimental results of our mapping contributions integrated with two different full SLAM backbones (Gaussian-SLAM and ORB-SLAM2), being the first ones using a neural network to merge CLIP descriptors and demonstrating end-to-end open-vocabulary online 3D mapping with loop closure. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/AEI/PID2024-155886NB-I00 info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/grantAgreement/ES/MICINN/PID2021-127685NB-I00 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Oswald, Martin R. Civera, Javier Universidad de Zaragoza (orcid)0000-0003-1368-1151 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 10, 11 (2025), 11745-11752 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 3106458 http://zaguan.unizar.es/record/165592/files/texto_completo.pdf Versión publicada 3310920 http://zaguan.unizar.es/record/165592/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:165592 articulos driver 2026-01-12-11:10:48 ARTICLE