PanoGraphGS: Unifying Panoptic Segmentation and Hierarchical 3D Scene Graphs with Gaussian Splatting
To this end, we present PanoGraphGS, a unified framework that integrates panoptic 3D Gaussian representation learning with hierarchical 3D scene graph construction.
ProofPaper ↗
Key points
- 3D scene graphs support language-guided navigation by organizing physical entities and their containment and spatial relations into hierarchical maps.
- The learned representation supports novel-view panoptic segmentation and direct Gaussian-level panoptic decoding.
- We further release NaviGS, a real-world dataset for panoramic scene understanding.
- These results demonstrate the effectiveness of PanoGraphGS in both hierarchical 3D scene understanding and 2D panoptic segmentation.
Sources (1)
- [1]PanoGraphGS: Unifying Panoptic Segmentation and Hierarchical 3D Scene Graphs with Gaussian SplattingarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 20, 06:15 AM
To this end, we present PanoGraphGS, a unified framework that integrates panoptic 3D Gaussian representation learning with hierarchical 3D scene graph construction.
3D scene graphs support language-guided navigation by organizing physical entities and their containment and spatial relations into hierarchical maps.
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