Semantic Mapping

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8 papers in the last four weeks, up 100% on the four weeks before. 0.1% of all new papers.

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Latest papers 62

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Language as a Sensor: Calibrated Spatial Belief Estimation in 3D Scenes from Natural Language
Jun 7, 2026Aryan Naveen, Jason Xinyu Liu, Luca Carlone +1Vision-Language Grounding Semantic Mapping
MIT Laboratory for Information & Decision Systems · MIT Computer Science & Artificial Intelligence Laboratory
RACT: Retrieval Augmented Column-Table Learning and Prediction for Multi-Table Schema Matching
Jun 5, 2026Leonard Traeger, Enas Khwaileh, Andreas Behrend +1Table Retrieval Semantic Mapping
University of Maryland, Baltimore County, USA · Utrecht University Utrecht, The Netherlands · Technical University of Cologne Cologne, Germany
SCOUT: Semantic scene COverage via Uncertainty-guided Traversal
Jun 4, 2026Junyu Mao, Sara Ayoubi, Vishnu D. Sharma +2Active Perception Robot Navigation
Nokia Bell Labs, France. · Nokia Bell Labs, Murray Hill, NJ, USA.
Knowledge Manifold: A Riemannian Geometric Framework for Semantic Mapping and Geodesic Analysis of Scientific Literature
Jun 4, 2026Tomonaga Okabe, Kazuhiko KomatsuKnowledge Representation Manifold Learning
Department of Aerospace Engineering, Tohoku University, 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai, Miyagi 980-8579, Japan · Research Center for Green X-Tech, Tohoku University, 6-6-11, Aoba, Aramaki, Aoba-ku, Sendai, Miyagi 980-8579, Japan
MapAgent: An Industrial-Grade Agentic Framework for City-scale Lane-level Map Generation
Jun 3, 2026Deguo Xia, Zihan Li, Haochen Zhao +6HD Map Construction Autonomous Driving
Tsinghua University Baidu Beijing, China · University of Macau Macao, China · Institute of Information Engineering, Chinese Academy of Sciences Beijing, China +2
SAVMap: Structure-Aided Visual Mapping of Large-Scale 2.5D Manhattan Wireframes from Panoramic Video
Jun 1, 2026Howard Huang, Bharath Surianarayanan, Keifer Lee +23D Reconstruction 3D Scene Representation
Dynamic Resilient Spatio-Semantic Memory with Hybrid Localization for Mobile Manipulation
May 30, 2026Zhijie Yan, Shufei Li, Ze Zhang +3Long-Horizon Robotic Manipulation Mobile Robotics
School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China · Department of Systems Engineering, City University of Hong Kong, Hong Kong SAR 518057, China · School of Computing, National University of Singapore, 21 Lower Kent Ridge Rd 119077, Singapore
CAFOSat: A Strongly Annotated Dataset for Infrastructure-Aware CAFO Mapping Using High-Resolution Imagery
May 30, 2026Oishee Bintey Hoque, Nibir Chandra Mandal, Mandy L Wilson +3Remote Sensing Image Understanding Agricultural Remote Sensing
University of Virginia · Biocomplexity Institute, University of Virginia
Belief Consistency Between Foundation-Model Evidence and Geometric Perception in Persistent Robotic Maps
May 29, 2026Christoffer Heckman, Harel Biggie, Brendan Crowe +1Model Calibration Semantic Mapping
Department of Computer Science, University of Colorado, Boulder · Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology
SemStruct: Contextualizing Semantic Embeddings with Structural Information for Schema Matching
May 29, 2026Inwon Kang, Kavitha Srinivas, Nandana Mihindukulasooriya +4Semantic Mapping
Rensselaer Polytechnic Institute · Troy, New York, USA · IBM Research +2
Building and Road Recognition in Dense Urban Informal Settlements: A Dataset and Benchmark
May 28, 2026Hongyu Long, Jiaxuan Liu, Rui CaoRemote Sensing Image Segmentation Building Footprint Extraction
UGOD Thrust, HKUST(GZ)
Psychological Constructs in Shared Semantic Space
May 26, 2026Hubert PlisieckiSemantic Mapping
IDEAS Research Institute
3D Gaussian Map with Open-Set Semantic Grouping for Vision-Language Navigation
May 26, 2026Jianzhe Gao, Rui Liu, Wenguan WangVision-Language Navigation 3D Scene Representation
The State Key Lab of Brain-Machine Intelligence, Zhejiang University
Bridging the 2D-3D Gap: A Hierarchical Semantic-Geometric Map for Vision Language Navigation
May 25, 2026Kailing Li, Tianwen Qian, Lijin Yang +43D Spatial Reasoning Vision-Language Navigation
School of Computer Science and Technology, East China Normal University · 2Bosch Corporate Research, Shanghai, China · 3King Abdullah University of Science and Technology
CyBOKClaw: Human-in-the-Loop CyBOK Mapping for Cybersecurity Curriculum
May 23, 2026Yan Lin Aung, Kevin TogbeCybersecurity Hybrid IR
University of Derby, Derby, UK
Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments
May 21, 2026Peifeng Jiang, Hong Liu, Jin Jin +23D Gaussian Splatting Safe Robot Navigation
State Key Laboratory of General Artificial Intelligence, Peking University, Shenzhen Graduate School · Oxford Robotics Institute, University of Oxford · Institute for Machine Learning, Department of Computer Science, ETH Zurich
Building a Custom Taxonomy of AI Skills and Tasks from the Ground Up with Job Postings
May 20, 2026Stephen Meisenbacher, Peter NorlanderSemantic Mapping
Technical University of Munich Garching, Germany · Loyola University Chicago Chicago, IL, USA
Ontology for Policing: Conceptual Knowledge Learning for Semantic Understanding and Reasoning in Law Enforcement Reports
May 15, 2026Anita Srbinovska, Jansen Orfan, Adrian Martin +1KG Construction Document Information Extraction
Office of Business Intelligence Rochester Police Department Rochester, NY, USA · Department of Computer Science Rochester Institute of Technology Rochester, NY, USA · School of Mathematics and Statistics Rochester Institute of Technology Rochester, NY, USA
Slum Detection and Density Mapping with AlphaEarth Foundations: A Representation Learning Evaluation Across 12 Global Cities
May 11, 2026Shuyang Hou, Ziqi Liu, Haoyue Jiao +7Geospatial Foundation Models Geospatial Representation Learning
State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, Wuhan, China
LAMES: A Large-Scale and Artisanal Mining Environmental Segmentation Dataset
May 8, 2026Matthias Kahl, Zhaiyu Chen, Sudipan Saha +3Semantic Mapping
Technical University of Munich, Germany · Indian Institute of Technology, Delhi, India · Hanken School of Economics / Svenska handelshögskolan, Helsinki, Finland +1
Plug-and-Play Label Map Diffusion for Universal Goal-Oriented Navigation
May 7, 2026Zhixuan Shen, Yijie Zeng, Shengxiang Luo +2Semantic Mapping Object-Goal Navigation
School of Computing and Artificial Intelligence, Southwest Jiaotong University, China.
FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers
May 5, 2026Timon Homberger, Finn Lukas Busch, Jesús Gerardo Ortega Peimbert +2Open-Vocabulary 3D Segmentation 3D Semantic Segmentation
Division of Robotics, Perception, and Learning, KTH Royal Institute of Technology, Sweden
Change-Robust Online Spatial-Semantic Topological Mapping
May 4, 2026Jiaming Wang, Jizhuo Chen, Diwen Liu +4Robot Navigation Semantic Mapping
National University of Singapore
Towards Generalizable Mapping of Hedges and Linear Woody Features from Earth Observation Data: a national Product for Germany
Apr 29, 2026Thorsten Hoeser, Verena Huber-Garcia, Sarah Asam +2Remote Sensing Image Segmentation Agricultural Remote Sensing
Earth Observation Center (EOC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany · Institute for Geography and Geology, University of Wuerzburg, 97074 Wuerzburg, Germany
Passage-Aware Structural Mapping for RGB-D Visual SLAM
Apr 27, 2026Ali Tourani, Miguel Fernandez-Cortizas, Saad Ejaz +4Visual SLAM Semantic Mapping
Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, Luxembourg. · Universidad Politécnica de Madrid, Spain. · Faculty of Science, Technology, and Medicine at the University of Luxembourg, Luxembourg.
Explore Like Humans: Autonomous Exploration with Online SG-Memo Construction for Embodied Agents
Apr 21, 2026Xu Chen, Shichao Xie, Zhining Gu +7Embodied Navigation Semantic Mapping
Amap, Alibaba Group, China.
OptiMVMap: Offline Vectorized Map Construction via Optimal Multi-vehicle Perspectives
Apr 18, 2026Zedong Dan, Zijie Wang, Wei Zhang +6Multi-View Learning Autonomous Driving
Sun Yat-sen University · Zhongguancun Academy · Shenzhen Loop Area Institute +2
GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology
Apr 16, 2026Shivendra Agrawal, Bradley HayesMultimodal Grounding Embodied Navigation
University of Colorado Boulder · Boulder, Colorado, USA
LEGO-SLAM: Language-Embedded Gaussian Optimization SLAM
Nov 20, 2025Sibaek Lee, Seongbo Ha, Kyeongsu Kang +33D Gaussian Splatting 3DGS SLAM
Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea
Agent-OM: Leveraging LLM Agents for Ontology Matching
Dec 1, 2023Zhangcheng Qiang, Weiqing Wang, Kerry TaylorSemantic Mapping
Australian National University Canberra, ACT, Australia · Monash University Melbourne, VIC, Australia

Jun 7, 2026, cs.ROJ/K move · Enter open · S save

Language as a Sensor: Calibrated Spatial Belief Estimation in 3D Scenes from Natural Language

Aryan Naveen, Jason Xinyu Liu, Luca Carlone, Andreea Bobu

MIT Laboratory for Information & Decision Systems · MIT Computer Science & Artificial Intelligence Laboratory

Vision-Language Grounding Semantic Mapping Multimodal Sensor Fusion Multimodal Understanding

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Robots deployed in human-centric environments routinely receive natural-language descriptions of spatial information ("I left my backpack on the table") that reference parts of the world beyond their perceptual field of view. Traditional metric-semantic mapping ignores this signal, while off-the-shelf multimodal models remain limited in 3D spatial reasoning and are not directly amenable to fusion with other sensor modalities. To convert language observations into a calibrated spatial distribution, we train a Language Sensor Model (LSM) that maps each utterance and its scene-graph context to a multimodal distribution, with mixture weights encoding referential ambiguity (e.g., "which table") and component covariances encoding spatial uncertainty (e.g., where "on the table" the target lies). We then introduce VL-Map (Vision-Language Metric-Semantic Mapping), a probabilistic framework that treats these language predictions as stochastic observations and fuses them with onboard perception within a unified belief map. On the VLA-3D benchmark as well as on a real-world mobile robot, LSM is the only language predictor whose covariance estimates remain within the calibrated regime; fused into VL-Map, it leads to more accurate predictions of the target object location (~70% more probability mass on the true target compared to the strongest foundation-model baseline).

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