AI RESEARCH
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
arXiv CS.CV
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ArXi:2605.13741v1 Announce Type: cross Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping methods rely on depth cameras or LiDAR sensors. In this work, we present LEXI-SG, the first dense monocular visual mapping system for open-vocabulary 3D scene graphs using only RGB camera input.