SOURCE-LINKED INTELLIGENCE

Functional-SLAM: Interaction-Aware Mapping with Online Functional Scene Graphs

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Existing SLAM systems lack modeling of the functional relations required for fine-grained robotic interaction. Functional 3D scene graphs can represent relations between objects and interaction elements, but existing methods rely on offline reconstruction, making them inadequate for real-time interaction in real-world exploration. To address this limitation, we propose Functional-SLAM, the first framework that continuously and recursively maintains a functional scene graph as an online SLAM state. The framework combines anchor-keyframe geometry with functional-context constraints for persisten

Read original source ↗ Open in workspace

recordType

paper

region

Global