# Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph

arXiv: https://arxiv.org/abs/2507.12123 · HTML: https://mlsanity.com/paper/2507.12123/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 42 references that are in the map.
- First posted on arXiv 16 Jul 2025.

## Builds on (most cited first, 30 of 30)

- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Image Segmentation Using Deep Learning: A Survey](https://mlsanity.com/paper/2001.05566/) (2020)
- [Segment Everything Everywhere All at Once](https://mlsanity.com/paper/2304.06718/) (2023)
- [YOLO-World: Real-Time Open-Vocabulary Object Detection](https://mlsanity.com/paper/2401.17270/) (2024)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [Recognize Anything: A Strong Image Tagging Model](https://mlsanity.com/paper/2306.03514/) (2023)
- [Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling](https://mlsanity.com/paper/1908.00222/) (2019)
- [3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera](https://mlsanity.com/paper/1910.02527/) (2019)
- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://mlsanity.com/paper/2403.17846/) (2024)
- [Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization](https://mlsanity.com/paper/2201.13360/) (2022)
- [3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans](https://mlsanity.com/paper/2002.06289/) (2020)
- [SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understanding](https://mlsanity.com/paper/2401.09340/) (2024)
- [Habitat-Matterport 3D Semantics Dataset](https://mlsanity.com/paper/2210.05633/) (2022)
- [Clio: Real-time Task-Driven Open-Set 3D Scene Graphs](https://mlsanity.com/paper/2404.13696/) (2024)
- [Visual Programming for Zero-shot Open-Vocabulary 3D Visual Grounding](https://mlsanity.com/paper/2311.15383/) (2023)
- [Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems](https://mlsanity.com/paper/2305.07154/) (2023)
- [Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries](https://mlsanity.com/paper/2211.15658/) (2022)
- [MobileSAMv2: Faster Segment Anything to Everything](https://mlsanity.com/paper/2312.09579/) (2023)
- [Sparse Voxels Rasterization: Real-time High-fidelity Radiance Field Rendering](https://mlsanity.com/paper/2412.04459/) (2024)
- [Beyond Bare Queries: Open-Vocabulary Object Grounding with 3D Scene Graph](https://mlsanity.com/paper/2406.07113/) (2024)
- [S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations](https://mlsanity.com/paper/2212.11770/) (2022)
- [3DGraphLLM: Combining Semantic Graphs and Large Language Models for 3D Scene Understanding](https://mlsanity.com/paper/2412.18450/) (2024)
- [RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes](https://mlsanity.com/paper/2502.15633/) (2025)
- [OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph](https://mlsanity.com/paper/2409.18743/) (2024)

## Built on by (most cited first, 2 of 2)

- [3D Scene Graphs: Open Challenges and Future Directions](https://mlsanity.com/paper/2606.19383/) (2026)
- [Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments](https://mlsanity.com/paper/2608.06170/) (2026)

## Abstract (arXiv)

We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames utilizing a set of open-vocabulary foundation models and sensor data processing. The hierarchical representation explicitly models spatial relations across floors, rooms, locations, and objects. To effectively address complex queries involving spatial reference to other objects, we integrate the hierarchical scene graph with a Large Language Model for multistep reasoning. This integration leverages inter-layer (e.g., room-to-object) and intra-layer (e.g., object-to-object) connections, enhancing spatial contextual understanding. We investigate the semantic and geometry accuracy of hierarchical representation on Habitat Matterport 3D Semantic multi-floor scenes. Our approach demonstrates efficient scene comprehension and robust object grounding compared to existing methods. Overall OVIGo-3DHSG demonstrates strong potential for applications requiring spatial reasoning and understanding of indoor environments. Related materials can be found at https://github.com/linukc/OVIGo-3DHSG.