<ul><li>Open-set semantic mapping is crucial for open-world robots.</li><li>RayFronts is a unified representation that enables both dense and beyond-range efficient semantic mapping.</li><li>RayFronts provides improved zero-shot 3D semantic segmentation performance and enhanced throughput compared to traditional methods.</li><li>RayFronts reduces search volume more efficiently than online baselines, making it a suitable option for online scene understanding and exploration.</li></ul>

RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration

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