{"id":"https://openalex.org/W7130533659","doi":"https://doi.org/10.48550/arxiv.2602.15899","title":"SceneVGGT: VGGT-based online 3D semantic SLAM for indoor scene understanding and navigation","display_name":"SceneVGGT: VGGT-based online 3D semantic SLAM for indoor scene understanding and navigation","publication_year":2026,"publication_date":"2026-02-12","ids":{"openalex":"https://openalex.org/W7130533659","doi":"https://doi.org/10.48550/arxiv.2602.15899"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.15899","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15899","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.15899","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084032474","display_name":"Anna Gelencs\u00e9r-Horv\u00e1th","orcid":"https://orcid.org/0000-0002-8223-960X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gelencs\u00e9r-Horv\u00e1th, Anna","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119615855","display_name":"Gergely Dinya","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dinya, Gergely","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126361924","display_name":"Dorka Bogl\u00e1rka Er\u0151s","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Er\u0151s, Dorka Bogl\u00e1rka","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126362702","display_name":"P\u00e9ter Hal\u00e1sz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hal\u00e1sz, P\u00e9ter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126422240","display_name":"Islam Muhammad Muqsit","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muqsit, Islam Muhammad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5051277218","display_name":"Krist\u00f3f Karacs","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Karacs, Krist\u00f3f","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8816999793052673,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8816999793052673,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.04050000011920929,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.010700000450015068,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6776999831199646},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.6624000072479248},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.531499981880188},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5282999873161316},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4790000021457672},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4562999904155731},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.41290000081062317}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7882999777793884},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.698199987411499},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6776999831199646},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6624000072479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6510000228881836},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.531499981880188},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5282999873161316},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4790000021457672},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4562999904155731},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.41290000081062317},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.36559998989105225},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35429999232292175},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34389999508857727},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.3089999854564667},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.27059999108314514},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2653000056743622},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.26159998774528503},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.15899","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15899","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.15899","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15899","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,34],"present":[1],"SceneVGGT,":[2],"a":[3,31,73],"spatio-temporal":[4],"3D":[5,58],"scene":[6],"understanding":[7],"framework":[8],"that":[9],"combines":[10],"SLAM":[11],"with":[12,130],"semantic":[13,119],"mapping":[14,45],"for":[15,69,86],"autonomous":[16],"and":[17,43,106,121],"assistive":[18,87,128],"navigation.":[19,88],"Built":[20],"on":[21,111],"VGGT,":[22],"our":[23],"method":[24],"scales":[25],"to":[26,57,125],"long":[27],"video":[28],"streams":[29],"via":[30],"sliding-window":[32],"pipeline.":[33],"align":[35],"local":[36],"submaps":[37],"using":[38,60],"camera-pose":[39],"transformations,":[40],"enabling":[41],"memory-":[42],"speed-efficient":[44],"while":[46],"preserving":[47],"geometric":[48],"consistency.":[49],"Semantics":[50],"are":[51,79],"lifted":[52],"from":[53],"2D":[54],"instance":[55],"masks":[56],"objects":[59],"the":[61,100,103,112],"VGGT":[62],"tracking":[63],"head,":[64],"maintaining":[65],"temporally":[66],"coherent":[67],"identities":[68],"change":[70],"detection.":[71],"As":[72],"proof":[74],"of":[75,99,102],"concept,":[76],"object":[77],"locations":[78],"projected":[80],"onto":[81],"an":[82],"estimated":[83],"floor":[84],"plane":[85],"The":[89],"pipeline's":[90],"GPU":[91],"memory":[92],"usage":[93],"remains":[94],"under":[95],"17":[96],"GB,":[97],"irrespectively":[98],"length":[101],"input":[104],"sequence":[105],"achieves":[107],"competitive":[108],"point-cloud":[109],"performance":[110],"ScanNet++":[113],"benchmark.":[114],"Overall,":[115],"SceneVGGT":[116],"ensures":[117],"robust":[118],"identification":[120],"is":[122],"fast":[123],"enough":[124],"support":[126],"interactive":[127],"navigation":[129],"audio":[131],"feedback.":[132]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-02-20T00:00:00"}