2 papers
cs.CV2026
Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs
Carlos Cueto Zumaya, Iacopo Catalano, Wallace Moreira Bessa +1
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 robot querying the map cannot t…
cs.RO2026
Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
Carlos Cueto Zumaya, Iacopo Catalano, Jorge Peña-Queralta +1
Hierarchical 3D scene graphs (3DSGs) for indoor robots organize geometric and semantic information across spatial scales, with a room layer that connects object-level perception to…