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VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular RGB alone, a regime no prior training-free system addresses. Online systems typically segment object instances and label them at first detection, committing when evidence is weakest. VOIM instead defers label and instance decisions until soft evidence from unmodified, off-the-shelf perception has accumulated per voxel across views. We show that the mapping stage, rather than the particular perception models, carries

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