OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects
OVIP-SG is presented, a unified framework for instance-preserving semantic mapping, functional scene partitioning, and language-guided small, fine-grained object retrieval that outperforms ConceptGraphs under a unified evaluation protocol on Replica.
Tianjing Hao, Haiyu Lan, Ang Li et al.
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