Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
A novel occupancy-grounded pipeline for hierarchical 3D scene graphs anchors room nodes to tracked free-space regions from occupancy decomposition, providing explicit polygonal footprints. Evaluated on 12 Matterport3D scenes, it recovers more room instances than the state-of-the-art Hydra method but at lower precision, and wall-accurate boundaries remain an open challenge.
[2606.13727] Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
[Submitted on 11 Jun 2026]
Title:Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
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Abstract:Hierarchical 3D scene graphs (3DSGs) for indoor robots organize geometric and semantic information across spatial scales, with a room layer that connects object-level perception to room-scale reasoning. Existing systems construct this layer from different spatial substrates (\eg{} place clusters, wall planes, or segmentation outputs), and as a result, room nodes are not evaluated on a common geometric criterion. We present an occupancy-grounded 3DSG pipeline in which room nodes are anchored to tracked free-space regions derived from occupancy decomposition, giving each room an explicit polygonal footprint. We evaluate the pipeline on 12 Matterport3D scenes by matching predicted room polygons to annotated room instances and compare against Hydra, a representative state-of-the-art place-connectivity baseline. The results show that occupancy-grounded anchoring recovers substantially more room instances than place-connectivity construction, at the cost of lower precision, and that wall-accurate room boundaries remain an open problem for both methods. Code is available at this https URL.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2606.13727 [cs.RO]
(or arXiv:2606.13727v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.13727
arXiv-issued DOI via DataCite
Submission history
From: Carlos Roberto Cueto Zumaya [view email] [v1] Thu, 11 Jun 2026 09:36:15 UTC (3,312 KB)
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