OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects

Tianjing Hao, Haiyu Lan, Angsong Li +6

Integrating open-vocabulary perception into object-level 3D scene graphs is a double-edged sword. While vision-language detectors recover long-tail categories and small, fine-grain…