RelWitness: Open-Vocabulary 3D Scene Graph Generation with Visual-Geometric Relation Witnesses
Open-vocabulary 3D scene graph generation seeks to describe object instances and their relations with flexible natural-language predicates. The central difficulty is not only vocabulary expansion, but supervision reliability: relation annotations in 3D scene graph datasets are selective, and many valid object-pair relations are unannotated. We propose RelWitness, a framework for open-vocabulary 3D scene graph generation from posed RGB-D sequences under incomplete relation supervision. The key concept is a relation witness: a concrete visual-geometric cue that makes a relation observable in the captured scene. Support relations require contact and vertical ordering; containment requires en...
| Authors | Minh Anh Nguyen, Quang Huy Tran, Bao Ngoc Le et al. |
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| Primary category | cs.CV |
| Published | 20 May 2026 |
| Last updated at source | 31 May 2026 |
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