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

Source: arXiv cs.RO·2026-09-02 12:00Publish time unverified

arXiv:2609.00619v1 Announce Type: new Abstract: 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.