FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to develop a representation that enables robots to directly interact with their environment by identifying both the location of functional interactive elements and how these can be used. To achieve this, we focus on detecting and storing objects at a finer resolution, focusing on affordance-relevant parts. The primary challenge lies in the scarcity of data that extends beyond instance-level detection and the inherent difficulty of capturing detailed object features using robotic sensors. We leverage currently available 3D resources to generate 2D data and train a detector, which is then used to augment the standard 3D scene graph generation pipeline. Through our experiments, we demonstrate that our approach achieves functional element segmentation comparable to state-of-the-art 3D models and that our augmentation enables task-driven affordance grounding with higher accuracy than the current solutions. See our project page at https://fungraph.github.io.

Authors

• Dennis Rotondi
• Fabio Scaparro
• Hermann Blum
• Kai O. Arras

Keywords

• Point cloud compression
• Solid modeling
• Three-dimensional displays
• Grounding
• Affordances
• Pipelines
• Focusing
• Detectors
• Robot sensing systems
• Standards
• 3D Scene
• Scene Graph
• 3D Scene Graph
• Functional Elements
• Interactive Elements
• Representation Of The Environment
• Robot Sensors
• Similar Shape
• Sources Of Error
• Object Detection
• Intersection Over Union
• Point Cloud
• Bounding Box
• Indoor Environments
• Semantic Similarity
• Semantic Features
• Object Segmentation
• Object Parts
• Objects In The Scene
• Functional Nodes
• 3D Segmentation
• Hierarchical Graph
• 2D Datasets
• 3D Graph
• Foundation Model
• Merging Process
• Image Annotation
• Standard Datasets
• Ratio Of Points