# PanOVOcc: Panoramic Embodied Open-Vocabulary Occupancy Mapping with Long-term Spatial Voxel Memory

arXiv: https://arxiv.org/abs/2609.31716 · HTML: https://mlsanity.com/paper/2609.31716/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 36 of its 43 references that are in the map.
- First posted on arXiv 21 Sep 2026.

## Builds on (most cited first, 30 of 36)

- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [OpenScene: 3D Scene Understanding with Open Vocabularies](https://mlsanity.com/paper/2211.15654/) (2022)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [ConceptFusion: Open-set Multimodal 3D Mapping](https://mlsanity.com/paper/2302.07241/) (2023)
- [CAT-Seg: Cost Aggregation for Open-Vocabulary Semantic Segmentation](https://mlsanity.com/paper/2303.11797/) (2023)
- [EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI](https://mlsanity.com/paper/2312.16170/) (2023)
- [HoHoNet: 360 Indoor Holistic Understanding with Latent Horizontal Features](https://mlsanity.com/paper/2011.11498/) (2020)
- [Pay Attention to Your Neighbours: Training-Free Open-Vocabulary Semantic Segmentation](https://mlsanity.com/paper/2404.08181/) (2024)
- [OpenVSLAM: A Versatile Visual SLAM Framework](https://mlsanity.com/paper/1910.01122/) (2019)
- [MatryODShka: Real-time 6DoF Video View Synthesis using Multi-Sphere Images](https://mlsanity.com/paper/2008.06534/) (2020)
- [Open-Fusion: Real-time Open-Vocabulary 3D Mapping and Queryable Scene Representation](https://mlsanity.com/paper/2310.03923/) (2023)
- [EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understanding](https://mlsanity.com/paper/2412.04380/) (2024)
- [Review on Panoramic Imaging and Its Applications in Scene Understanding](https://mlsanity.com/paper/2205.05570/) (2022)
- [Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras](https://mlsanity.com/paper/1703.08866/) (2017)
- [OmniSAM: Omnidirectional Segment Anything Model for UDA in Panoramic Semantic Segmentation](https://mlsanity.com/paper/2503.07098/) (2025)
- [EmbodiedOcc++: Boosting Embodied 3D Occupancy Prediction with Plane Regularization and Uncertainty Sampler](https://mlsanity.com/paper/2504.09540/) (2025)
- [SCFusion: Real-time Incremental Scene Reconstruction with Semantic Completion](https://mlsanity.com/paper/2010.13662/) (2020)
- [ODGS: 3D Scene Reconstruction from Omnidirectional Images with 3D Gaussian Splattings](https://mlsanity.com/paper/2410.20686/) (2024)
- [What's in my Room? Object Recognition on Indoor Panoramic Images](https://mlsanity.com/paper/1910.06138/) (2019)
- [PanoVGGT: Feed-Forward 3D Reconstruction from Panoramic Imagery](https://mlsanity.com/paper/2603.17571/) (2026)
- [Complementary Bi-directional Feature Compression for Indoor 360deg Semantic Segmentation with Self-distillation](https://mlsanity.com/paper/2207.02437/) (2022)
- [Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction](https://mlsanity.com/paper/2602.21552/) (2026)
- [Robust Fusion for Bayesian Semantic Mapping](https://mlsanity.com/paper/2303.07836/) (2023)
- [OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera](https://mlsanity.com/paper/2511.03571/) (2025)
- [On the Overconfidence Problem in Semantic 3D Mapping](https://mlsanity.com/paper/2311.10018/) (2023)
- [Holo360D: A Large-Scale Real-World Dataset with Continuous Trajectories for Advancing Panoramic 3D Reconstruction and Beyond](https://mlsanity.com/paper/2604.22482/) (2026)
- [Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes](https://mlsanity.com/paper/2602.22667/) (2026)
- [Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots](https://mlsanity.com/paper/2603.13108/) (2026)

## Abstract (arXiv)

Persistent semantic occupancy mapping is essential for embodied scene understanding. However, perspective-based systems provide limited spatial coverage, while existing panoramic methods primarily predict local volumes from single observations. We introduce PanOVOcc, a training-free framework for persistent open-vocabulary semantic occupancy mapping from panoramic sequences. PanOVOcc unifies panoramic SLAM, open-vocabulary perception, and long-term spatial voxel memory within an online architecture, continuously integrating geometric and semantic evidence into a global, language-queryable map. To facilitate systematic evaluation of this setting, we establish Pan-Replica and Pan-Holo360D, two benchmarks pairing continuous panoramic RGB-D sequences with scene-level semantic occupancy ground truth across synthetic and real-world scenes. Compared with the strongest evaluated baseline for each metric, PanOVOcc improves occupancy IoU and semantic mIoU by absolute +20.03 and +7.06 on Pan-Replica, and by +43.26 and +20.16 on Pan-Holo360D, respectively. The source code and the established benchmarks will be available at https://github.com/bakereet/PanOVOcc.