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Published at November 27

Online Knowledge Integration for 3D Semantic Mapping: A Survey

cs.RO

cs.CV

cs.LG

Released Date: November 27, 2024

Authors: Felix Igelbrink¹, Marian Renz², Martin Günther, Piper Powell², Lennart Niecksch¹, Oscar Lima¹, Martin Atzmueller³, Joachim Hertzberg²

Aff.: ¹German Research Center for Artificial Intelligence, Research Department Plan-based Robot Control, Osnabrück, Germany; ²Osnabrück University, Institute of Computer Science, Knowledge-Based Systems Group, Osnabrück, Germany; ³Osnabrück University, Institute of Computer Science, Semantic Information Systems Group, Osnabrück, Germany

Arxiv: http://arxiv.org/abs/2411.18147v1

Name	Reference	Generation Method	Dataset	Application
3-D scene graph	Kim et al. [69]	Image-level prediction using Factorizable Net	ScanNet [101]	Task planning, VQA
3DSSG	Wald et al. [70]	Offline Prediction with GNN	Modified 3RScan [78]	Prediction
SceneGraph- Fusion	Wu et al. [79]	Online incremental prediction from single frames with GNN	3DSSG [70], ScanNet [101]	Incremental Prediction
MonoSSG	Wu et al. [84]	Online incremental prediction from RGB sequences with GNN	3DSSG	Incremental Prediction
KSGN	Qiu and Christensen [28]	Offline prediction of scene graphs with bridging to knowledge graphs	3DSSG	Prediction
SGFormer	Lv et al. [86]	Offline prediction with transformer model and text embeddings	3DSSG	Prediction
DGGN	Qi et al. [81]	Offline prediction on point clusters	s3DIS [102], 3DSSG, Paris-Lille-3D [103]	Prediction
LSSG+GSSG	Li et al. [80]	Online incremental prediction from single frames with GNN	AI2Thor [104]	Navigation
Object-based SLAM	Sünderhauf [92]	Construction of random pose- and landmark nodes	Custom indoor scenario	Object-centric navigation
SARP	Amiri et al. [95]	Predictions on 360-degree RGB images	Custom environment, AI2Thor	Object search
3D VSG	Looper et al. [96]	GNN on ground truth scene graph	3DSSG, 3RScan	Change detection
-	Kabalar et al. [71]	Online construction from single images	RIO10[105]	Visual localization
D-SCG	Giuliari et al. [89]	Offline construction from ground truth segmentations	ScanNet, ConceptNet [57]	Object localization in partial scenes
KiSGPM	Zhang et al. [44]	Offline prediction with knowledge-based meta-embeddings	3DSSG	Prediction
MP-DGCNN + ENA-GNN	Han et al. [90]	Offline prediction with unbiased knowledge-based meta-embeddings	3DSSG	Prediction