Panoramic 3D DetectionExpert
OmniAct3D: Leveraging Foundation Geometry and Evidence-Grounded Reasoning for Panoramic 3D Detection
OmniAct3D is a preprint framework that adapts frozen vision-foundation-model 3D detectors to equirectangular 360° images. It improves NDS by 2.96 points over the prior best on Spheriverse and mAP by 24.87 points over the unadapted VFM baseline on PanoMMOcc. This gives mobile robots a single-image continuous 360° 3D detection path while preserving transferable foundation geometry.