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VoxelFix: Post-Hoc Semantic Correction of Completed 3D Voxel Maps

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Semantic 3D maps are increasingly constructed automatically for aerial robotics by integrating learned semantic predictions into 3D representations. While this avoids costly manual 3D annotation, errors in the perception and mapping pipeline can persist in the resulting map, reducing its reliability for downstream autonomous tasks. Existing 3D semantic map refinement methods either rely on the original observations, treat occupancy as part of the prediction problem, or apply non-learned local regularization to completed maps. Instead, we study post-hoc semantic correction, asking whether seman

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