arxivcs.CV2026-07-01
NoPA: Non-Parametric Online 3D Scene Graph Generation
Qi Xun Yeo, Seungjun Lee, Yan Li, Gim Hee Lee
Classic 3D scene graph generation approaches fail to work in real-time due to the heavy computational cost of environment mapping and the need to generate intermediate point-cloud representations. To alleviate this issue, a recent work eschews point clouds in favor of a lightweig…