aiqbench analysis
This research introduces an occupancy-grounded pipeline for constructing hierarchical 3D scene graphs in indoor robotics, anchoring room nodes to tracked free-space regions rather than disparate spatial substrates like wall planes or place clusters. By evaluating on Matterport3D scenes, the study demonstrates that this method recovers significantly more room instances compared to existing baselines, though it trades off some precision and leaves accurate boundary delineation as an open challenge for both approaches.
Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
arXiv:2606.13727v1 Announce Type: new Abstract: 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 room-scale reasoning. Existing systems construct this layer from different spatial substrates (\eg{} place clusters, wall planes, or segmentation outputs), and as a result, room nodes are not evaluated on a common geometric criterion. We present an occupancy-grounded 3DSG pipeline in which room nodes are anchored to tracked free-space regions derived from occupancy decomposition, giving each room an explicit polygonal footprint. We evaluate the pipeline on 12 Matterport3D scenes by matching predicted room polygons to annotated room instances and compare against Hydra, a representative state-of-the-art place-connectivity baseline. The results show that occupancy-grounded anchoring recovers substantially more room instances than place-connectivity construction, at the cost of lower precision, and that wall-accurate room boundaries remain an open problem for both methods. Code is available at https://github.com/crcz25/OccuSG.
Abstract: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 room-scale reasoning. Existing systems construct this layer from different spatial substrates (\eg{} place clusters, wall planes, or segmentation outputs), and as a result, room nodes are not evaluated on a common geometric criterion. We present an occupancy-grounded 3DSG pipeline in which room nodes are anchored to tracked free-space regions derived from occupancy decomposition, giving each room an explicit polygonal footprint. We evaluate the pipeline on 12 Matterport3D scenes by matching predicted room polygons to annotated room instances and compare against Hydra, a representative state-of-the-art place-connectivity baseline. The results show that occupancy-grounded anchoring recovers substantially more room instances than place-connectivity construction, at the cost of lower precision, and that wall-accurate room boundaries remain an open problem for both methods. Code is available at this https URL.
Robotics (cs.RO)
arXiv:2606.13727 [cs.RO]
(or arXiv:2606.13727v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.13727 Focus to learn more arXiv-issued DOI via DataCite
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Full text under the publisher's open licence · 241 words