Carlos Roberto Cueto Zumaya

Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs

Open-vocabulary 3D Scene Graphs (3DSGs) ground each object node in a vision-language embedding, yet they record every entry as equally certain, so a robot querying the map cannot tell which of its entries are unreliable. Estimators of semantic uncertainty could supply that distinction, but they require repeated samplin...