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Probabilistic Scene Graphs: Hierarchical Representation and Real-time System

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

3D scene graphs provide semantically rich and hierarchical representations for robot perception. However, existing systems do not maintain uncertainty as an explicit belief or propagate it through the operations that construct and refine the graph. We introduce Probabilistic Scene Graph (PSG), a generalization of the conventional scene graph that represents a posterior over possible graphs, factorized into a discrete graph structure of entities, relations, and semantic attributes, and continuous states that ground them spatially, with uncertainty maintained over both components. Geometry is ca

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