SCOUT: Semantic scene COverage via Uncertainty-guided Traversal

arXiv:2606.06721v1 Announce Type: cross Abstract: Robots that operate over extended periods should not merely visit space; they should progressively understand it. Yet most 3D scene graph pipelines treat perception as a post-processing stage over a fixed dataset, decoupling scene representation from the decisions that determine what is observed in the first place. We present SCOUT, an online semantic exploration framework that closes this loop by coupling active traversal with probabilistic scene graph construction. Given a prior 2D occupancy map and posed RGB-D observations, SCOUT incremental

Source: arXiv cs.AI — read the full report at the original publisher.

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