AI RESEARCH
RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots
arXiv CS.CV
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ArXi:2605.18197v1 Announce Type: cross Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB cameras are available, such as fixed external infrastructure. Existing pipelines also typically operate on passively collected observation trajectories, rather than selecting viewpoints based on the partially built scene representation, and. therefore.