相关论文: KeySG: Hierarchical Keyframe-Based 3D Scene Graphs

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. Inspection planning, particularly of distributed targets in…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

Dynamic scenes contain intricate spatio-temporal information, crucial for mobile robots, UAVs, and autonomous driving systems to make informed decisions. Parsing these scenes into semantic triplets <Subject-Predicate-Object> for accurate…

Existing 3D scene generation methods often struggle to model the complex logical dependencies and physical constraints between objects, limiting their ability to adapt to dynamic and realistic environments. We propose CausalStruct, a novel…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Scene graphs provide a rich, structured representation of a scene by encoding the entities (objects) and their spatial relationships in a graphical format. This representation has proven useful in several tasks, such as question answering,…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability…

Latent scene representation plays a significant role in training reinforcement learning (RL) agents. To obtain good latent vectors describing the scenes, recent works incorporate the 3D-aware latent-conditioned NeRF pipeline into scene…

As pretrained text-to-image diffusion models become increasingly powerful, recent efforts have been made to distill knowledge from these text-to-image pretrained models for optimizing a text-guided 3D model. Most of the existing methods…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful…

In this paper, we propose a new framework for zero-shot object navigation. Existing zero-shot object navigation methods prompt LLM with the text of spatially closed objects, which lacks enough scene context for in-depth reasoning. To better…