arxivcs.CVcs.RO2026-07-06
Beyond Isolated Objects: Relationship-aware Open Vocabulary Scene Understanding via 3D Scene Graph Analysis
Xianhao Chen, Jiarui Hu, Yuanbo Yang, Xiyu Zhang, Tengyue Wang, Hujun Bao, et al.
Open-vocabulary 3D scene understanding aims to segment 3D scenes beyond predefined categories by transferring semantic knowledge from vision-language models. Existing methods have advanced this task by lifting language-aligned 2D features into 3D, yet they often rely on context-i…