LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping methods rely on depth cameras or LiDAR sensors. In this work, we present LEXI-SG, the first dense monocular visual mapping system for open-vocabulary 3D scene graphs using only RGB camera input. Our approach exploits the semantic priors of open-vocabulary foundation models to partition the scene into rooms, deferring feed-forward reconstruction to when each room is fully observed -- enabling scalable dense mapping without sliding-window scale inconsistencies. We propose a room-based factor graph formulation to global...
| Authors | Christina Kassab, Hyeonjae Gil, Matías Mattamala et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 May 2026 |
| Last updated at source | 13 May 2026 |
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