无需重建点云，实时融合多视角框实现开放词汇3D检测

Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offline or online, typically rely on dense point cloud reconstruction, which imposes substantial computational overhead and memory constraints, hindering real-time deployment in downstream tasks. To address this, we propose a novel reconstruction-free online framework tailored for memory-efficient and real-time 3D detection. Specifically, given streaming posed RGB-D video input, we leverage Cubify Anything as a pre-trained visual foundation model (VFM) for single-view 3D object detection by bounding boxes, coupled with CLIP to capture open-vocabulary semantics of detected objects. To fuse all detected bounding boxes across different views into a unified one, we employ an association module for correspondences of multi-views and an optimization module to fuse the 3D bounding boxes of the same instance predicted in multi-views. The association module utilizes 3D Non-Maximum Suppression (NMS) and a box correspondence matching module, while the optimization module uses an IoU-guided efficient random optimization technique based on particle filtering to enforce multi-view consistency of the 3D bounding boxes while minimizing computational complexity. Extensive experiments on ScanNetV2 and CA-1M datasets demonstrate that our method achieves state-of-the-art performance among online methods. Benefiting from this novel reconstruction-free paradigm for 3D object detection, our method exhibits great generalization abilities in various scenarios, enabling real-time perception even in environments exceeding 1000 square meters.