3D Scene Understanding

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27 papers in the last four weeks, up 200% on the four weeks before. 0.3% of all new papers.

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Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization
Jun 23, 2026Zhaopeng Cui, Jiarui Hu, Jingbo Liu +7Camera Pose Estimation 3D Scene Understanding
1State Key Lab of CAD&CG, Zhejiang University · 2Ant Group
Agentic Collaborative Cognition for Zero-Shot 3D Understanding
Jun 23, 2026Wenxin Wang, Bo Zhang, Feng Chen +43D Spatial Reasoning Multi-Agent Collaboration
Sichuan University · Adelaide University · University of Electronic Science and Technology of China +1
Deep Learning Approaches for 3D Medical Scene Completion: From Geometric Modeling to Generative Paradigms
Jun 23, 2026Afifa Khaled, Said Jadid Abdulkadir, Majdy Mohamed Eltayeb Eltahir3D Gaussian Splatting 3D Reconstruction
Department of Computing, Universiti Teknologi PETRONAS, Perak, Malaysia
From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models
Jun 22, 2026David Oberacker, Meike Deitersen, Niklas Spielbauer +33D SGG Robotic Perception
FZI Research Center for Information Technology, 76131 Karlsruhe, Germany · Machine Intelligence and Robotics Lab (MaiRo), Karlsruhe Institute for Technology (KIT), Karlsruhe, Germany
4DVLT: Dynamic Scene Understanding with Worldline-Centered Vision-Language Tracking
Jun 21, 2026Chaoyue Li, Boxue Yang, Shengyao Zhou +3Visual Object Tracking Vision-Language Grounding
Huazhong University of Science and Technology · Shanghai Jiao Tong University · Zhejiang University
ACEsplat: Accelerated 3D Gaussian Scene Regression via RGB and Poses Only
Jun 20, 2026Mingkai Liu, Haohua Que, Dikai Fan +73D Gaussian Splatting 3DGS Acceleration
Peking University · University of Georgia · Infinity Robotics +3
Occ-VLM: Occupancy Grounded Vision Language Model for Indoor Scene Understanding
Jun 18, 2026Jianing Li, Zhou Fang, Yijiang Liu +13D Occupancy Prediction 3D VQA
School of Electronic Science and Engineering, Nanjing University
QueryGaussian: Scalable and Training-Free Open-Vocabulary 3D Instance Retrieval
Jun 18, 2026Xiuyuan Zhu, Ke Lu, Zijie Yang +33D Scene Understanding
University of Chinese Academy of Sciences, Beijing, China · 3Peng Cheng Laboratory, Shenzhen, China · 2State Key Laboratory of Communication Content Cognition, Beijing, China
OneCanvas: 3D Scene Understanding via Panoramic Reprojection
Jun 17, 2026Bartłomiej Baranowski, Dave Zhenyu Chen, Matthias Nießner3D Spatial Reasoning Embodied QA
Technical University of Munich · Huawei
Do Gaussian Scenes Contain Enough Structure for Intrinsic Segmentation?
Jun 17, 2026Mohamed Rayan Barhdadi, Hasan Yazar, Erchin Serpedin +23D Gaussian Splatting Image Segmentation
Texas A&M University · Istanbul Technical University · Hamad Bin Khalifa University
PROSE: Training-Free Egocentric Scene Registration with Vision-Language Models
Jun 15, 2026Zhiang Chen, Nahyuk Lee, Boyang Sun +4Egocentric Vision 3D Scene Understanding
1ETH Zurich · 2VGG, University of Oxford · 3ETH AI Center
3D Scene Graphs: Open Challenges and Future Directions
Jun 15, 2026Dennis Rotondi, Francesco Argenziano, Sebastian Koch +103D SGG 3D Scene Representation
University of Stuttgart · IMPRS-IS · Sapienza University of Rome +7
SGFormer++: Semantic Graph Transformer for Incremental 3D Scene Graph Generation
Jun 13, 2026Mengshi Qi, Changsheng Lv, Zijian Fu +2Class-Incremental Learning 3D SGG
State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, China
Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
Jun 11, 2026Carlos Cueto Zumaya, Iacopo Catalano, Jorge Peña-Queralta +13D SGG Semantic Occupancy Mapping
University of Turku, 20014 Turku, Finland · Centre for Artificial Intelligence, Zürich University of Applied Sciences, Winterthur, Switzerland
From USD Scenes to Knowledge Graphs: Zero-Shot Ontology Grounding with LLMs
Jun 8, 2026Jiangtao Shuai, Zongxiong Chen, Manfred Hauswirth +1KG Construction LLM Grounding
Technical University of Berlin, Germany · Fraunhofer FOKUS, Germany
MB-Loc: Multi-planar Bird's-eye-view Localization in outdoor LiDAR scenes
Jun 7, 2026Ayaan Choudhury, Preet Savalia, Anirudh Pydah +1Bird's-Eye-View Representation LiDAR Localization
Indian Institute of Technology Jodhpur, India
PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning
Jun 7, 2026Haoyu Li, Aaron Thomas, Shuyan Zhou +13D SGG 3D Scene Representation
Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC 27708, USA. · Department of Computer Science, Duke University, Durham, NC 27708, USA.
Skill-3D: Evolving Scene-Aware Skills for Agentic 3D Spatial Reasoning
Jun 5, 2026Haoyuan Li, Zhengdong Hu, Jun Wang +23D Spatial Reasoning Tool-Using Vision-Language Agents
Zhejiang University, Hangzhou, China · University of Technology Sydney, Sydney, Australia · OPPO Research Institute, Shenzhen, China
PAR3D: A Unified 3D-MLLM with Part-Aware Representation for Scene Understanding
Jun 4, 2026Shaohui Dai, Yansong Qu, You Shen +23D Part Segmentation 3D Representation Learning
Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University
T-FunS3D: Task-Driven Hierarchical Open-Vocabulary 3D Functionality Segmentation
Jun 4, 2026Jingkun Feng, Reza SabzevariOpen-Vocabulary 3D Segmentation 3D Part Segmentation
P4MARS Lab at the Faculty of Aerospace Engineering, Delft University of Technology
Exploring Easy Boosts for Lidar Semantic Scene Completion
Jun 2, 2026Tetiana Martyniuk, Jonathan Seele, Alexandre Boulch +33D Semantic Segmentation Pseudo-Labeling
Inria, France · ETH Zurich, Switzerland · valeo.ai, France +1
GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images
Jun 2, 2026Jiahao Sun, Dingkun Wei, Zehong Shen +33D Reconstruction Multi-View 3D Reconstruction
Zhejiang University, China · Ant Group, China
MLP Splatting: Object-Centric Neural Fields
Jun 2, 2026Shinjeong Kim, Yuzhou Cheng, Xin Kong +2Open-Vocabulary 3D Segmentation 3D Scene Editing
Department of Computing, Imperial College London
UnsOcc: 3D Semantic Occupancy Prediction in Unstructured Scene via Rendering Fusion
Jun 2, 2026Ye Wu, Ruiqi Song, Baiyong Ding +33D Occupancy Prediction Multimodal Sensor Fusion
School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China · Institute of Automation, Chinese Academy of Sciences, Beijing, China · Waytous Inc., Beijing, China
From 3D Perception to Safety Reasoning: A Graph-Based Framework for Real-Time Underground Mine Monitoring
Jun 2, 2026Pasindu Ranasinghe, Simit Raval, Dibyayan Patra +2Graph Reasoning 3D Scene Understanding
School of Minerals and Energy Resources Engineering, University of New South Wales, Sydney, NSW, Australia · School of Science, Engineering and Digital Technologies, University of Southern Queensland, Toowoomba, QLD, Australia.
Zero-Shot 3D Question Answering via Hierarchical View-to-Token Transportation
Jun 2, 2026Dongsheng Wang, Dawei Su, Hui Huang3D VQA Visual Token Compression
College of Computer Science and Software Engineering, Shenzhen University, China.
Physical Object Understanding with a Physically Controllable World Model
May 30, 2026Rahul Venkatesh, Klemen Kotar, Lilian Naing Chen +9Physical Reasoning World Model Learning
Stanford University · OpenAI · Noetik Inc. +1
Seeing Fast and Slow: Bimodal 3D Scene Graphs for Open-set Tasks
May 29, 2026Marcel Bartholomeus Prasetyo, Shrutika Vishal Thengane, A Manicka Praveen +2Scene Graph Generation 3D SGG
Singapore University of Technology and Design (SUTD), Singapore.
VLM3: Vision Language Models Are Native 3D Learners
May 28, 2026Zhipeng Cai, Zhuang Liu, Yunyang Xiong +3Camera Pose Estimation Monocular Depth Estimation
Meta · Princeton University
REST3D: Reconstructing Physically Stable 3D Scenes from a Single Image
May 28, 2026Xiaoxuan Ma, Jiashun Wang, Nicolas Ugrinovic +23D Reconstruction 3D Scene Representation
Carnegie Mellon University

Jun 23, 2026, cs.CVJ/K move · Enter open · S save

Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization

Zhaopeng Cui, Jiarui Hu, Jingbo Liu, Boming Zhao+6

1State Key Lab of CAD&CG, Zhejiang University · 2Ant Group

Camera Pose Estimation 3D Scene Understanding

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Indoor visual relocalization plays a critical role in emerging spatial and embodied AI applications. However, prior research was predominantly devoted to low-level vision schemes, struggling to perceive scene semantics and compositions, which limits both interpretability and applicability. In this paper, we explore the issue of how to organize rich object information in a scene, including semantics, layout, and geometry, into a structured map representation, thereby utilizing object units exclusively to drive the camera relocalization task. To this end, we propose OpenReLoc, a camera relocalization system designed to provide scene understanding and accurate pose estimation capabilities. Leveraging recent foundation models, we first introduce a multi-modal mechanism to integrate open-vocabulary semantic knowledge for effective 2D-3D object matching. Additionally, we design object-oriented reference frames as position priors, paired with a reference frame selection strategy based on the Distance-IoU (DIOU), enabling extension to scalable scenes. Moreover, to ensure stable and accurate pose optimization, we also propose a dual-path 2D Iterative Closest Pixel loss guided by object shape. Experimental results demonstrate that OpenReLoc achieves superior relocalization recall and accuracy across various datasets. Our source code will be released upon acceptance.

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