3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments
Generating realistic 3D indoor scenes is an area of growing interest in computer vision and robotics. Existing methods, often motivated by applications such as interior design, generally focus on object layout generation within a single room. The generation of high-level scene structure, such as room-level layout and traversability, remains underexplored despite its importance for robotics applications. In this paper, we consider the case where a robot has explored part of an environment and needs to predict the unexplored parts to support downstream tasks such as exploration or object search. We propose a top-down framework for synthesizing hierarchical 3D scene graphs, including a room ...
| Authors | Siyi Hu, Jared Strader, Hyungtae Lim et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 July 2026 |
| Last updated at source | 17 July 2026 |
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