arxivcs.CVcs.AI2026-07-01
DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors
Seok-Young Kim, Abdelrahman Elskhawy, Taewook Ha, Dooyoung Kim, Eunjae Shin, Benjamin Busam, et al.
We present DeWorldSG, a novel framework that generates spatio-temporally robust 3D Semantic Scene Graphs from RGB-D sequences. Existing methods often struggle to construct reliable 3D scene graphs due to unstable 3D object representations and missing relations caused by frame-wis…