arXiv:2409. 11972v4 Announce Type: replace-cross Abstract: Enabling robots to autonomously discover high-level spatial concepts (e.
Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Machine Learning.
arXiv:2608.28733v1 Announce Type: cross Abstract: Indoor 3D Scene Graphs (3DSGs) represent environments as multi-layer hierarchies that connect observed geometric primitives (e.g., planes) to higher-...
arXiv:2606. 06721v1 Announce Type: cross Abstract: Robots that operate over extended periods should not merely visit space; they should progressively understand it.
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely on purely local visual clustering or strict geometric heuristics, such as wall-separated rooms, which fail in open-plan or arbitrarily-structured environments.
VoxelFix is a graph‑based post‑hoc semantic correction method that refines voxel labels in completed 3D voxel maps while preserving their geometry and occupancy. It learns to correct errors by exploiting local geometry and neighboring semantic information, using training pairs generated by corrupting annotated maps with class confusions from upstream perception pipelines. Experiments on OccuFly maps show consistent improvements of 4.23–5.00 percentage points in mIoU, especially for tree, roof, and wall classes, and the method generalizes to out‑of‑distribution aerial scenes.
arXiv:2609.38620v1 Announce Type: new Abstract: Neural implicit representations have had a significant impact on scene reconstruction by enabling robots to build continuous, differentiable, and high-...
arXiv:2609.22351v1 Announce Type: new Abstract: Open-vocabulary 3D Scene Graphs (3DSGs) ground each object node in a vision-language embedding, yet they record every entry as equally certain, so a ro...