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arXiv 提交日期: 2026-04-04
📄 Abstract - FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning

Recent work in 3D scene understanding is moving beyond purely spatial analysis toward functional scene understanding. However, existing methods often consider functional relationships between object pairs in isolation, failing to capture the scene-wide interdependence that humans use to resolve ambiguity. We introduce FunFact, a framework for constructing probabilistic open-vocabulary functional 3D scene graphs from posed RGB-D images. FunFact first builds an object- and part-centric 3D map and uses foundation models to propose semantically plausible functional relations. These candidates are converted into factor graph variables and constrained by both LLM-derived common-sense priors and geometric priors. This formulation enables joint probabilistic inference over all functional edges and their marginals, yielding substantially better calibrated confidence scores. To benchmark this setting, we introduce FunThor, a synthetic dataset based on AI2-THOR with part-level geometry and rule-based functional annotations. Experiments on SceneFun3D, FunGraph3D, and FunThor show that FunFact improves node and relation discovery recall and significantly reduces calibration error for ambiguous relations, highlighting the benefits of holistic probabilistic modeling for functional scene understanding. See our project page at this https URL

顶级标签: computer vision systems model evaluation
详细标签: 3d scene understanding functional scene graphs probabilistic inference factor graphs scene-wide reasoning 或 搜索:

FunFact:通过因子图推理构建概率性功能3D场景图 / FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning


1️⃣ 一句话总结

这篇论文提出了一个名为FunFact的新框架,它能够从RGB-D图像中构建出带有概率性功能关系的3D场景图,通过结合常识推理和几何约束进行整体推断,从而更准确地理解场景中物体之间的功能联系。

源自 arXiv: 2604.03696