{"id":"https://openalex.org/W7158784617","doi":"https://doi.org/10.48550/arxiv.2604.26067","title":"RADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments","display_name":"RADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments","publication_year":2026,"publication_date":"2026-04-28","ids":{"openalex":"https://openalex.org/W7158784617","doi":"https://doi.org/10.48550/arxiv.2604.26067"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.26067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.26067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.26067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120682053","display_name":"Zaid Nasser","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nasser, Zaid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134921144","display_name":"Mikhail Iumanov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iumanov, Mikhail","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134914645","display_name":"Tianhao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Tianhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134884536","display_name":"Maxim Popov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Popov, Maxim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134916024","display_name":"Jaafar Mahmoud","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahmoud, Jaafar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134925788","display_name":"Sergey Kolyubin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kolyubin, Sergey","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7433000206947327,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7433000206947327,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.17260000109672546,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.011900000274181366,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.539900004863739},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5274999737739563},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4767000079154968},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4731999933719635},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.44699999690055847},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4343000054359436},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3935000002384186},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3707999885082245}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7612000107765198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7585999965667725},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6568999886512756},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.539900004863739},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5274999737739563},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4767000079154968},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4731999933719635},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.44699999690055847},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4343000054359436},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3935000002384186},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3707999885082245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3666999936103821},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.31520000100135803},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.26570001244544983},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C5134670","wikidata":"https://www.wikidata.org/wiki/Q1626444","display_name":"Cut","level":4,"score":0.25519999861717224},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.26067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.26067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.26067","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.26067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"RADIO-ViPE":[2,45,136,162],"(Reduce":[3],"All":[4],"Domains":[5],"Into":[6],"One":[7],"--":[8,70,75],"Video":[9],"Pose":[10],"Engine),":[11],"an":[12],"online":[13],"semantic":[14,173],"SLAM":[15],"system":[16,65],"that":[17,39,135,153],"enables":[18],"geometry-aware":[19],"open-vocabulary":[20,151,172],"grounding,":[21],"associating":[22],"arbitrary":[23],"natural":[24],"language":[25,74],"queries":[26],"with":[27,83],"localized":[28],"3D":[29],"regions":[30],"and":[31,73,94,123,158,178],"objects":[32,122],"in":[33,91,167],"dynamic":[34,142],"environments.":[35],"Unlike":[36],"existing":[37],"approaches":[38],"require":[40],"calibrated,":[41],"posed":[42],"RGB-D":[43],"input,":[44],"operates":[46],"directly":[47],"on":[48,140,155],"raw":[49],"monocular":[50],"RGB":[51],"video":[52,181],"streams,":[53],"requiring":[54],"no":[55],"prior":[56],"camera":[57],"intrinsics,":[58],"depth":[59],"sensors,":[60],"or":[61],"pose":[62],"initialization.":[63],"The":[64,108],"tightly":[66],"couples":[67],"multi-modal":[68],"embeddings":[69],"spanning":[71],"vision":[72],"derived":[76],"from":[77,105],"agglomerative":[78],"foundation":[79],"models":[80],"(e.g.,":[81,127],"RADIO)":[82],"geometric":[84],"scene":[85,125,160],"information.":[86],"This":[87],"coupling":[88],"takes":[89],"place":[90],"initialization,":[92],"optimization":[93,109],"factor":[95],"graph":[96],"connections":[97],"to":[98,117],"improve":[99],"the":[100,103,141],"consistency":[101],"of":[102],"map":[104],"multiple":[106],"modalities.":[107],"is":[110],"wrapped":[111],"within":[112],"adaptive":[113],"robust":[114,171],"kernels,":[115],"designed":[116],"handle":[118],"both":[119],"actively":[120],"moving":[121],"agent-displaced":[124],"elements":[126],"furniture":[128],"rearranged":[129],"during":[130],"ego-centric":[131],"session).":[132],"Experiments":[133],"demonstrate":[134],"achieves":[137],"state-of-the-art":[138],"results":[139],"TUM-RGBD":[143],"benchmark":[144],"while":[145],"maintaining":[146],"competitive":[147],"performance":[148],"against":[149],"offline":[150],"methods":[152],"rely":[154],"calibrated":[156],"data":[157],"static":[159],"assumptions.":[161],"bridges":[163],"a":[164],"critical":[165],"gap":[166],"real-world":[168],"deployment,":[169],"enabling":[170],"grounding":[174],"for":[175],"autonomous":[176],"robotics":[177],"unconstrained":[179],"in-the-wild":[180],"streams.":[182],"Project":[183],"page:":[184],"https://be2rlab.github.io/radio_vipe":[185]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-01T00:00:00"}