Author

Zheng-Hao Zhang

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Preprint Sep 2026

VideoReloc: Long-Term Indoor Video Relocalization against a Kilobyte-Scale Semantic Scene Graph

Given a compact semantic scene graph, long-term indoor video relocalization estimates a map-frame trajectory after lighting and furniture changes. Visual methods rely on appearance and become unreliable under these changes; localizing one frame at a time from object classes and geometry instead leaves sparse, ambiguous...

Qian-Ru Li, Xu-Yang Chen, Xu-Qin Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

MSSP: Multi-Scale Spatially-Constrained Partition for Unsupervised Semantic Segmentation of 3D Point Clouds

3D point cloud semantic segmentation is essential for real-world spatial understanding, yet the prohibitive cost of human annotations motivates unsupervised approaches that require no labels. Existing superpoint-based methods typically rely on spectral analysis at a fixed granularity, failing to capture the hierarchica...

Zheng-Hao Zhang, Xin-Jie Wang, Wei Wang et al. · 0 citations