PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation
Online 3D scene graph generation builds a persistent, structured representation of a scene by incrementally fusing 2D observations into a global 3D graph. Existing online methods treat this fusion as a fully deterministic pipeline, where we identify three sources of uncertainty that are overlooked: observation, 2D model, and 3D representation. We propose PUF: a Plug-and-play, Uncertainty-aware, and training-free Fusion framework. Scene graph node association is reformulated as a probabilistic likelihood over semantic and spatial factors, replacing binary accept/reject gates. Dirichlet evidence accumulation distributes class and relationship evidence across plausible candidates proportiona...
| Authors | Yi Yang, Myrna Castillo, Bodo Rosenhahn et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 July 2026 |
| Last updated at source | 8 July 2026 |
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