PanoGraphGS: Unifying Panoptic Segmentation and Hierarchical 3D Scene Graphs with Gaussian Splatting
3D scene graphs support language-guided navigation by organizing physical entities and their containment and spatial relations into hierarchical maps. Building such structured maps requires a scene representation that consistently distinguishes semantic regions and object instances across viewpoints. To this end, we present PanoGraphGS, a unified framework that integrates panoptic 3D Gaussian representation learning with hierarchical 3D scene graph construction. The framework learns semantic and instance features on shared Gaussian geometry. Prototype-based semantic learning and association-based instance learning produce consistent panoptic predictions across viewpoints. The learned repr...
| Authors | Jinghan Gao, Siyu Wang, Dongyu Feng et al. |
|---|---|
| Primary category | cs.CV |
| Published | 20 October 2026 |
| Last updated at source | 20 October 2026 |
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