3 papers
cs.CV2025
KeySG: Hierarchical Keyframe-Based 3D Scene Graphs
Abdelrhman Werby, Dennis Rotondi, Fabio Scaparro +1
In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large langu…
cs.RO2025
Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs
Ermanno Bartoli, Dennis Rotondi, Kai O. Arras +1
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in traject…
cs.CV2025
FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction
Dennis Rotondi, Fabio Scaparro, Hermann Blum +1
The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coar…