Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs
Open-vocabulary 3D Scene Graphs (3DSGs) ground each object node in a vision-language embedding, yet they record every entry as equally certain, so a robot querying the map cannot tell which of its entries are unreliable. Estimators of semantic uncertainty could supply that distinction, but they require repeated sampling of a model, training, or held-out labels, none of which are available to a deployed system at query time. We present a framework that exploits the detector confidence and the embeddings a 3DSG already stores, converts them into a probability that an entry is correct, and propagates that probability through the containment hierarchy into a belief that a room contains a quer...
| Authors | Carlos Cueto Zumaya, Iacopo Catalano, Wallace Moreira Bessa et al. |
|---|---|
| Primary category | cs.CV |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
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