Preprint
Sep 2026
TRACKGRAPH: Online Open-Vocabulary 3D Scene Graphs via Image-Space Tracking
Open-vocabulary 3D maps enable robots to reason about previously unknown environments using natural language. However, existing systems typically segment every incoming image, associate detections with persistent 3D segments, and frequently perform costly Vision-Language (VL) inference. We present TRACKGRAPH, an online...
Peder Borge Hellesylt, Albert Gassol Puigjaner, Kostas Alexis et al.
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