Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs
arXiv:2609.22351v1 Announce Type: new Abstract: Open-vocabulary 3D Scene Graphs (3DSGs) ground each object node in a vision-language embedding, yet they record every entry as equally certain, so a robot querying the map cannot tell which of its entries are unreliable. Estimators of semantic uncerta…
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- 2026-09-23 04:00 · arXiv cs.CV
Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs