SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation

• URL: http://arxiv.org/abs/2608.22896v1
• Date: Mon, 24 Aug 2026 07:25:14 GMT
• Title: SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation
• Abstract summary: We present SuperMap, a 4D-temporal mapping framework for language-guided navigation.<n>Our core contribution is principled consistency-driven mapping engine that combines 3D-aware instance association/label-reactivation with a existence-and-label confidence update to maintain stable object identities.<n>SuperMap produces a queryable 4D scene-graph representation that interfaces naturally with Vision-Language Models.
• Score: 13.431320718523017
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Robotic navigation in human environments requires a spatio-temporal semantic representation that can rec- oncile open-vocabulary perception with long-term environmental changes. While foundation models provide strong zero-shot recognition, their predictions are intermittent and view-dependent, and naively integrating them into mapping pipelines leads to identity drift and stale semantics over time. We present SuperMap, a 4D spatio-temporal mapping framework for language-guided navigation that integrates high-frequency geometric SLAM with asynchronous open-vocabulary perception. Our core contribution is a consistency-driven mapping engine that combines 3D-aware instance association/re-activation with a principled existence-and-label confidence update to maintain stable object identities and prune outdated map content under occlusions and scene changes. SuperMap produces a queryable 4D scene-graph representation that interfaces naturally with Vision-Language Models by supporting compositional queries over object semantics, relations, We demonstrate SuperMap on benchmarks and real robots, including dynamic scenes with appearance/disappearance and relocation, and provide ablations and runtime analysis. We release the full system as open-source to provide the community with a deployable baseline for open-vocabulary spatio-temporal mapping. Project website: superodometry.com/supermap.

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