Pix2G generates hierarchical scene graphs with object, scene, room, and building layers, on CPU only, by combining 2D object detection, GAN-based map denoising, and BEV room segmentation.
Hier- archical Open-V ocabulary 3D Scene Graphs for Language-Grounded Robot Navigation,
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Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding
Pix2G generates hierarchical scene graphs with object, scene, room, and building layers, on CPU only, by combining 2D object detection, GAN-based map denoising, and BEV room segmentation.