SSG-MAKE-2026/index.html at main · DFKI-NI/SSG-MAKE-2026 · GitHub

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<!DOCTYPE html>
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          content="A short starter to build website for your paper.">
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              <h1 class="title is-1 publication-title">A Scene Graph Backed Approach to <br> Open Set Semantic Mapping</h1>
              <div class="is-size-5 publication-authors">
                <span class="author-block">
                  <a href="https://www.dfki.de/en/web/about-us/employee/person/magu02">Martin Günther</a><sup>1*</sup>,</span>
                <span class="author-block">
                  <a href="https://www.dfki.de/en/web/about-us/employee/person/igfe01">Felix Igelbrink</a><sup>1*</sup>,</span>
                <span class="author-block">
                  <a href="https://www.dfki.de/en/web/about-us/employee/person/osli01">Oscar Lima</a><sup>1*</sup>,</span>
                <br>
                <span class="author-block">
                  <a href="https://www.dfki.de/en/web/about-us/employee/person/leni01">Lennart Niecksch</a><sup>1,2*</sup>,</span>
                <span class="author-block">
                  <a href="https://www.dfki.de/en/web/about-us/employee/person/mare10">Marian Renz</a><sup>1,2*</sup>,</span>
                <br>
                <span class="author-block">
                  <a href="https://martin.atzmueller.net/">Martin Atzmueller</a><sup>2,1</sup></span>
              </div>

              <div class="is-size-5 publication-authors">
                <span class="author-block"><sup>1</sup>German Research Center for Artificial Intelligence (DFKI), Cooperative and Autonomous Systems (CAS), Hamburger Straße 24, Osnabrück, Germany.</span>
                <span class="author-block"><sup>2</sup>Osnabrück University, Semantic Information Systems Group, Wachsbleiche 27, Osnabrück, Germany.</span>
                <span class="author-block"><sup>*</sup>Equal contribution.</span>
              </div>

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                <div class="publication-links">
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                      <span>Paper</span>
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                    <a href="https://arxiv.org/abs/2602.03781"
                       class="external-link button is-normal is-rounded is-dark">
                      <span class="icon">
                        <i class="ai ai-arxiv"></i>
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                      <span>arXiv</span>
                    </a>
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              <h2 class="title is-3">Abstract</h2>
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                <p>
                While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant challenge. Most existing approaches decouple perception from representation, treating the scene graph as a derivative layer generated post hoc. This limits both consistency and scalability. In contrast, we propose a mapping architecture where the 3DSSG serves as the foundational backend, acting as the primary knowledge representation for the entire mapping process.

                Our approach leverages prior work on incremental scene graph prediction to infer and update the graph structure in real-time as the environment is explored. This ensures that the map remains topologically consistent and computationally efficient, even during extended operations in large-scale settings. By maintaining an explicit, spatially grounded representation that supports both flat and hierarchical topologies, we bridge the gap between sub-symbolic raw sensor data and high-level symbolic reasoning. Consequently, this provides a stable, verifiable structure that knowledge-driven frameworks, ranging from knowledge graphs and ontologies to Large Language Models (LLMs), can directly exploit, enabling agents to operate with enhanced interpretability, trustworthiness, and alignment to human concepts.
                </p>
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              <h2 class="title is-3">Video</h2>
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      </section>

      <section class="section" id="BibTeX">
        <div class="container is-max-desktop content">
          <h2 class="title">BibTeX</h2>
          <!--<pre><code>@InProceedings{guenther2026scenegraph,
  author    = {G{\"u}nther, Martin and Igelbrink, Felix and Lima, Oscar and Niecksch, Lennart and Renz, Marian and Atzmueller, Martin},
  title     = {A Scene Graph Backed Approach to Open Set Semantic Mapping},
  booktitle = {TODO},
  year      = {2026},
  pages     = {TODO},
  publisher = {TODO},
  doi       = {TODO},
}</code></pre>-->
          <pre><code>@misc{guenther2026scenegraph,
      title={A Scene Graph Backed Approach to Open Set Semantic Mapping},
      author={G{\"u}nther, Martin and Igelbrink, Felix and Lima, Oscar and Niecksch, Lennart and Renz, Marian and Atzmueller, Martin},
      year={2026},
      eprint={2602.03781},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2602.03781},
}</code></pre>
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