PUF replaces deterministic 2D-to-3D scene graph fusion with probabilistic node association and Dirichlet evidence accumulation, yielding substantial accuracy gains on 3DSSG and ReplicaSSG at 15ms/frame.
In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
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PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation
PUF replaces deterministic 2D-to-3D scene graph fusion with probabilistic node association and Dirichlet evidence accumulation, yielding substantial accuracy gains on 3DSSG and ReplicaSSG at 15ms/frame.