{"ID":2838967,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.16144","arxiv_id":"2511.16144","title":"LEGO-SLAM: Language-Embedded Gaussian Optimization SLAM","abstract":"Recent advances in 3D Gaussian Splatting (3DGS) have enabled Simultaneous Localization and Mapping (SLAM) systems to build photorealistic maps. However, these maps lack the open-vocabulary semantic understanding required for advanced robotic interaction. Integrating language features into SLAM remains a significant challenge, as storing high-dimensional features demands excessive memory and rendering overhead, while existing methods with static models lack adaptability for novel environments. To address these limitations, we propose LEGO-SLAM (Language-Embedded Gaussian Optimization SLAM), the first framework to achieve real-time, open-vocabulary mapping within a 3DGS-based SLAM system. At the core of our method is a scene-adaptive encoder-decoder that distills high-dimensional language embeddings into a compact 16-dimensional feature space. This design reduces the memory per Gaussian and accelerates rendering, enabling real-time performance. Unlike static approaches, our encoder adapts online to unseen scenes. These compact features also enable a language-guided pruning strategy that identifies semantic redundancy, reducing the map's Gaussian count by over 60\\% while maintaining rendering quality. Furthermore, we introduce a language-based loop detection approach that reuses these mapping features, eliminating the need for a separate detection model. Extensive experiments demonstrate that LEGO-SLAM achieves competitive mapping quality and tracking accuracy, all while providing open-vocabulary capabilities at 15 FPS.","short_abstract":"Recent advances in 3D Gaussian Splatting (3DGS) have enabled Simultaneous Localization and Mapping (SLAM) systems to build photorealistic maps. However, these maps lack the open-vocabulary semantic understanding required for advanced robotic interaction. Integrating language features into SLAM remains a significant cha...","url_abs":"https://arxiv.org/abs/2511.16144","url_pdf":"https://arxiv.org/pdf/2511.16144v1","authors":"[\"Sibaek Lee\",\"Seongbo Ha\",\"Kyeongsu Kang\",\"Joonyeol Choi\",\"Seungjun Tak\",\"Hyeonwoo Yu\"]","published":"2025-11-20T08:31:34Z","proceeding":"cs.CV","tasks":"[\"cs.CV\",\"cs.RO\"]","methods":"[]","has_code":false}