Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation

In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning with partial information. We propose a graph-based learning methodology for the computation of belief (also referred to as expectation) on any given 3D scene graph, which is then used to strategically add new nodes (referred to as blind nodes) that are relevant for a robotic mission. We propose the method of Computation of …

article belief computation concept cs.cv cs.ro extensions graph graph-based graphs information methodology novel objects planning through utility