arXiv AI
OpenSplatGraph: From Dense Semantic Maps to Structured Scene Graphs for Open-Vocabulary Robot Perception
Read the original on arXiv AI →The Flow has not summarised this story yet — read it at arXiv AI.
Related stories
arXiv Computer Vision
Sep 16
DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding
DGSG-Mind introduces a hybrid instance-aware 3D Gaussian dynamic scene graph system that integrates open‑vocabulary semantic information into dynamic 3D scene representations. By coupling a probabilistic voxel grid with explicit 3D Gaussians, it achieves robust cross‑modal instance fusion, incremental semantic mapping, and dynamic change handling through Gaussian‑based relocalization and masked refinement. The system builds a hierarchical scene graph and a 3D Gaussian Mind for multimodal reasoning, achieving state‑of‑the‑art zero‑shot 3D visual grounding and strong performance in open‑vocabulary semantic segmentation and scene reconstruction, and is demonstrated on real‑world robots.
Hugging Face Trending Papers
Aug 6
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
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.
arXiv Computer Vision
Oct 1
HIGS: Hierarchical Implicit Grids for Joint Geometric and Semantic Scene Understanding
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 AI
Aug 11
RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
arXiv:2601. 10168v3 Announce Type: replace-cross Abstract: Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image aggregation under occlusions and constrained viewpoints.
arXiv Computer Vision
Aug 21
OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments
arXiv:2606. 29786v2 Announce Type: replace Abstract: 3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments.
Hugging Face Trending Papers
Jul 30
MonoVoc: Decoupling Geometry and Semantics for Lightweight Monocular Open-Vocabulary 3D Gaussians
Open vocabulary 3D scene understanding is essential for next-generation interactive systems, empowering users to intuitively query and navigate reconstructed environments using natural language. However, current 3D Gaussian frameworks are often bottlenecked by restrictive multiview capture requirements, costly scene-specific optimization, and the massive memory overhead of storing dense language features.