Probabilistic Scene Graphs: Hierarchical Representation and Real-time System

arXiv:2609.23144 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Terminology

• Alignment — 44× in this paper · explained in 1 episode
• Accuracy — 24× in this paper · explained in 1 episode
• Probabilistic Scene Graph — 15× in this paper
• Gaussian Splatting — 12× in this paper · explained in 4 episodes
• Grounding — 10× in this paper · explained in 3 episodes
• 3D Gaussian Splatting — 7× in this paper · explained in 2 episodes
• Benchmark — 7× in this paper · explained in 2 episodes
• Consistency — 7× in this paper · explained in 3 episodes
• Abstraction — 3× in this paper · explained in 1 episode
• Clustering — 3× in this paper · explained in 2 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Fisher Information — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• Downstream Tasks — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Graph Construction — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• 2-Wasserstein Distance — 1× in this paper · explained in 1 episode
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Wasserstein Distance — 1× in this paper · explained in 4 episodes

Sources

• 3D Scene Graphs: Open Challenges and Future Directions
• 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
• LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
• vS-Graphs: Tightly Coupling Visual SLAM and 3D Scene Graphs Exploiting Hierarchical Scene Understanding
• Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM
• 3D Gaussian Splatting in Robotics: A Survey
• A Survey on Collaborative SLAM with 3D Gaussian Splatting
• OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
• Generation of Uncertainty-Aware High-Level Spatial Concepts in Factorized 3D Scene Graphs via Graph Neural Networks
• A Comprehensive Survey and Experimental Comparison of Graph-Based Approximate Nearest Neighbor Search
• Navigating the Semantic Horizon using Relative Neighborhood Graphs
• A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation
• KITTI-CARLA: a KITTI-like dataset generated by CARLA Simulator
• SAM 2: Segment Anything in Images and Videos

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