arxivcs.CV2026-07-08
PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation
Yi Yang, Myrna Castillo, Bodo Rosenhahn, Michael Ying Yang
Online 3D scene graph generation builds a persistent, structured representation of a scene by incrementally fusing 2D observations into a global 3D graph. Existing online methods treat this fusion as a fully deterministic pipeline, where we identify three sources of uncertainty t…