The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research in open vocabulary tasks within 2D computer vision, the application of such methodologies to 3D environments, particularly within large-scale outdoor contexts, remains relatively underdeveloped. This paper presents a novel approach that integrates 3D point cloud data, acquired from LIDAR sensors, with textual information. The primary focus is on the utilization of textual data to directly localize and identify objects within the autonomous driving context. We introduce an efficient framework for the fusion of bird's-eye view (BEV) region features with textual features, thereby enabling the system to seamlessly adapt to novel textual inputs and enhancing the robustness of open vocabulary detection tasks. The effectiveness of the proposed methodology is rigorously evaluated through extensive experimentation on the newly introduced NuScenes-T dataset, with additional validation of its zero-shot performance on the Lyft Level 5 dataset. This research makes a substantive contribution to the advancement of autonomous driving technologies by leveraging multimodal data to enhance open vocabulary perception in 3D environments, thereby pushing the boundaries of what is achievable in autonomous navigation and perception.

本研究解决了在大规模户外三维环境中应用开放词汇感知的不足，通过将激光雷达获取的三维点云数据与文本信息结合，提出了一种新的框架，能够直接定位并识别自主驾驶中的物体。研究结果显示，该方法显著提升了开放词汇检测任务的稳健性，具有重要的应用潜力和技术推进价值。

自主驾驶中的开放三维世界