# AOV-GS: Active Open-Vocabulary Semantic Mapping with 3D Gaussian Splatting

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/yeiu0idnt110sbmfp773tbdp5
- Original: https://arxiv.org/abs/2610.29374

## Summary

AOV-GS is an active 3D Gaussian Splatting mapping system that uses frozen foundation models to guide exploration, without requiring manually annotated segmentation masks or closed semantic categories. In its coarse exploration stage, it re-ranks geometric candidate views by the novelty of CLIP mask embeddings computed from SAM instance segmentation, biasing exploration toward semantically informative regions; a lightweight scene language field fitted offline directly aligns the collected CLIP embeddings, enabling open-vocabulary text-query segmentation.