OpenSplatGraph: מפות סמנטיות צפופות לגרפים סטרוקטוריים של סצנות 3D לתפיסה פתוח-לשונית של רובוטים

תקציר מקורי באנגליתarXiv:2610.07569v1 Announce Type: cross Abstract: Dense 3D mapping with semantic understanding is essential for robotic perception in complex environments. Recent 3D Gaussian Splatting-based mapping approaches enable high-fidelity geometry and efficient open-vocabulary perception, but typically represent semantics as unstructured feature fields that limit object-centric reasoning. In contrast, 3D scene graphs explicitly model objects and their relationships for structured reasoning, but are commonly constructed from sparse geometric representations that do not fully exploit dense semantic maps. In this work, we present OpenSplatGraph, a unified framework that constructs persistent 3D scene graphs directly from an online Gaussian-based open-vocabulary semantic map. The proposed framework au