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DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

In indoor environments, object positions frequently change due to human activities or embodied-agent interactions, causing previously constructed scene graphs to become inconsistent with the current scene. To address this issue, we propose DSG, a dynamic 3D scene graph construction framework that detects object changes and performs spatial relationship reasoning. First, we construct a semantic-aware 3D Gaussian scene representation and develop a dual-view rendering-based object change detection method to enable reliable scene graph node updates. Second, we propose a spatial relationship reason

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