OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a place, as well as global map fusion across multiple agents. Such capabilities are essential for robots that require long-term memory for long-horizon tasks involving interactions with the environment. Existing approaches mainly focus on subscan-to-subscan (S2S) alignment and depend heavily on geometric point-cloud features, leaving frame-to-scan (F2S) alignment and open-set vision-language features underexplored. In addition, existing datasets for scene gr...
| Authors | Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger et al. |
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| Primary category | cs.CV |
| Published | 11 May 2026 |
| Last updated at source | 11 May 2026 |
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