perceiving-objects

Fast single-path 3D object perception. Runs Grounding-DINO broad detection, a pairwise VLM crop tournament to identify the target box, SAM3 box segmentation, and depth back-projection to a world-frame point cloud, finished by geometry.filter_and_compute_obb for a clean oriented bounding box, mask, and cloud. Multi-camera rigs get a verified wrist-camera fallback gate. Use when a manipulation workflow needs to…