3Dシーングラフにおける意味的不確実性の階層的集約

原文アブストラクト

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 sampling of a model, training, or held-out labels, none of which are available to a deployed system at query time. We present a framework that exploits the detector confidence and the embeddings a 3DSG already stores, converts them into a probability that an entry is correct, and propagates that probability through the containment hierarchy into a belief that a room contains a queried class. Four signals, each paired with the object-level error it indicates, are converted to probabilities at the logit scale learned by the vision-language model and combined in closed form with no additional perception or training. Objects sharing a detector and a vocabulary fail together, so the framework aggregates them in the fully correlated limit, where an aggregation under independence would treat one repeated error as repeated evidence. Evaluated on HM3DSem against a state-of-the-art 3DSG system, the framework improves object retrieval and lowers the error of the room-level assertions of the graph it reads.