Paper Citation Record · LEDGER

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding

As of 19 August 2026, this Paper Citation Record lists 38 of 38 outbound references and 1 inbound Pith citation observation for arXiv:2506.22593.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2506.22593 v1

Coverage vector

measured 38 of 38 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T22:07:19.454588Z

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-04T16:32:49.916599Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

38 of 38 outbound references displayed

verified exact1
verified fuzzy31
unresolved6
parse uncertain0
malformed identifier0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 442ed737-df0e-4990-8bee-3e0e0d3e93eb · outbound

This paper cites Connecting semantic building information models and robotics: An application to 2d lidar-based localization,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Connecting semantic building information models and robotics: An application to 2d lidar-based localization,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:26.543033Z

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Observation 2aaf6949-dc4d-4041-a785-b8579c789865 · outbound

This paper cites Automated facility inspection using robotics and bim: A knowledge-driven approach,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Automated facility inspection using robotics and bim: A knowledge-driven approach,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:26.289067Z

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Observation d8405c6a-65d3-44b2-9da9-e473616c5d9d · outbound

This paper cites Building multiversal semantic maps for mobile robot operation,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Building multiversal semantic maps for mobile robot operation,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:25.998810Z

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Observation 3664fdc7-e127-484f-88a3-20c9de4946f6 · outbound

This paper cites Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 4

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Observation bfc98c78-9c3f-4dd3-88f5-9cfcfdc4fd67 · outbound

This paper cites 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-06T22:07:17.003766Z

Source-reported events for the cited work

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Observation 8be2393a-9da4-4d86-837b-c586c0f883bd · outbound

This paper cites Hier- archical Open-V ocabulary 3D Scene Graphs for Language-Grounded Robot Navigation,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Hier- archical Open-V ocabulary 3D Scene Graphs for Language-Grounded Robot Navigation,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:25.719358Z

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Observation d265f2eb-9ce9-4309-91ee-e104ba3b4739 · outbound

This paper cites Pix2pix gan for image-to-image translation,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Pix2pix gan for image-to-image translation,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:25.384040Z

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Observation 2b08b383-7ef0-4d68-b0e3-1e55aae1587a · outbound

This paper cites Image seg- mentation using morphological operations,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Image seg- mentation using morphological operations,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:25.084329Z

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Observation 8b17394a-7ccf-46ef-acd0-a09c259b3028 · outbound

This paper cites Image segmentation using deep learning: A survey,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Image segmentation using deep learning: A survey,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:24.802201Z

Source-reported events for the cited work

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Observation ab3664d8-0944-4c8c-ad54-7675b77caa0d · outbound

This paper cites Deep learning techniques—r-cnn to mask r-cnn: a survey,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Deep learning techniques—r-cnn to mask r-cnn: a survey,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:24.501698Z

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Observation 5b2732e3-f25e-4221-bd0b-922ccd6e795e · outbound

This paper cites Faster r-cnn: Towards real- time object detection with region proposal networks,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Faster r-cnn: Towards real- time object detection with region proposal networks,

Reference 11

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Observation 9329ea1b-a125-40b8-8195-e79df78f1ef7 · outbound

This paper cites Segment Anything.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Segment Anything

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-06T22:07:17.502049Z

Source-reported events for the cited work

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Observation 36bf22ab-0746-4f86-8f84-b457711abe6f · outbound

This paper cites Learning transferable visual models from natural language supervision,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Learning transferable visual models from natural language supervision,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:24.194682Z

Source-reported events for the cited work

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Observation 0299a2a0-c378-411c-b46f-7351ba6ee89f · outbound

This paper cites Language-driven Semantic Segmentation.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Language-driven Semantic Segmentation

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-06T22:07:17.689839Z

Source-reported events for the cited work

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Observation dbcfd712-99af-4661-b024-90f8151e3355 · outbound

This paper cites 3d point cloud segmentation: A survey,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding 3d point cloud segmentation: A survey,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:23.811633Z

Source-reported events for the cited work

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Observation 8ba945dd-78ea-4e81-9b4f-81799bdef463 · outbound

This paper cites A unified point-based framework for 3d segmentation,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding A unified point-based framework for 3d segmentation,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:23.634603Z

Source-reported events for the cited work

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Observation e002bf16-59f4-4dc1-b6a2-6daa7905def4 · outbound

This paper cites Robust structure identification and room segmentation of cluttered indoor environments from occupancy grid maps,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Robust structure identification and room segmentation of cluttered indoor environments from occupancy grid maps,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:23.414907Z

Source-reported events for the cited work

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Observation 69866ead-c997-4d34-a164-bdbd42d35ada · outbound

This paper cites V oronoi random fields: Extract- ing topological structure of indoor environments via place labeling.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding V oronoi random fields: Extract- ing topological structure of indoor environments via place labeling

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:23.152552Z

Source-reported events for the cited work

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Observation 7cd8b5ba-b8d0-4d1c-a589-01ec74395390 · outbound

This paper cites The polygonal 3d layout reconstruction of an indoor environment via voxel-based room segmentation and space partition,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding The polygonal 3d layout reconstruction of an indoor environment via voxel-based room segmentation and space partition,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:22.985919Z

Source-reported events for the cited work

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Observation e3cc1abf-1058-4f54-8d39-40122bc320d8 · outbound

This paper cites Segmentation of structural elements from 3d point cloud using spatial dependencies for sustainability studies,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Segmentation of structural elements from 3d point cloud using spatial dependencies for sustainability studies,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:22.796881Z

Source-reported events for the cited work

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Observation e11f507f-b4ef-4d38-8d60-9f905ee364b7 · outbound

This paper cites Automatic room segmentation from unstructured 3-d data of indoor environments,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Automatic room segmentation from unstructured 3-d data of indoor environments,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:22.637608Z

Source-reported events for the cited work

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Observation 1312256d-b059-4dae-b724-dbe28ca32704 · outbound

This paper cites Learning Indoor Layouts from Simple Point-Clouds.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Learning Indoor Layouts from Simple Point-Clouds

Reference 22

Resolution: verified exact; local_arxiv, observed 2026-08-06T22:07:19.602996Z

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Observation 0419e4bd-ccc8-42be-ba43-4b61510922ea · outbound

This paper cites House-gan++: Generative adversarial layout refine- ment network towards intelligent computational agent for professional architects,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding House-gan++: Generative adversarial layout refine- ment network towards intelligent computational agent for professional architects,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:22.442158Z

Source-reported events for the cited work

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Observation 66ec15a5-77aa-49ed-b23f-ebaec69be51a · outbound

This paper cites Wallplan: synthesizing floorplans by learning to generate wall graphs,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Wallplan: synthesizing floorplans by learning to generate wall graphs,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:22.207083Z

Source-reported events for the cited work

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Observation 8b789d44-faba-47b1-b47b-a5725d07f808 · outbound

This paper cites Reconstruction and prediction of the layout of indoor environments from two-dimensional metric maps,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Reconstruction and prediction of the layout of indoor environments from two-dimensional metric maps,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:21.929522Z

Source-reported events for the cited work

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Observation 25bb6028-afc7-4999-b116-4f55ccba59cc · outbound

This paper cites 3-d scene graph: A sparse and semantic representation of physical environments for intelligent agents,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding 3-d scene graph: A sparse and semantic representation of physical environments for intelligent agents,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:21.721302Z

Source-reported events for the cited work

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Observation ca8c3737-d547-4c18-a86e-e85f0ab22154 · outbound

This paper cites Bridging 2d and 3d segmentation networks for computation-efficient volumetric medical image segmentation: An empirical study of 2.5 d solutions,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Bridging 2d and 3d segmentation networks for computation-efficient volumetric medical image segmentation: An empirical study of 2.5 d solutions,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:21.523978Z

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Observation 7d8b20fd-0111-46cc-ac70-838a636beecd · outbound

This paper cites Manhattan world: Compass direc- tion from a single image by bayesian inference,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Manhattan world: Compass direc- tion from a single image by bayesian inference,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:21.304122Z

Source-reported events for the cited work

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Observation 6b895923-2840-4a3a-9f21-34ca3947a258 · outbound

This paper cites MMDetection: Open MMLab Detection Toolbox and Benchmark.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding MMDetection: Open MMLab Detection Toolbox and Benchmark

Reference 29

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Observation 3bb1a04e-48e3-4e26-aa21-c61477a1799a · outbound

This paper cites Imagenet classifica- tion with deep convolutional neural networks,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Imagenet classifica- tion with deep convolutional neural networks,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:21.113528Z

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Observation 93f47105-dabc-4033-8b7c-67b384e45e56 · outbound

This paper cites Places: A 10 million image database for scene recognition,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Places: A 10 million image database for scene recognition,

Reference 31

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Observation a89f8fae-2688-400b-b79a-f05d632e2e24 · outbound

This paper cites Locus 2.0: Robust and computationally efficient lidar odometry for real-time 3d mapping,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Locus 2.0: Robust and computationally efficient lidar odometry for real-time 3d mapping,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:20.664308Z

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Observation 75c98a45-cfd6-424c-975f-7ffcc4b498ca · outbound

This paper cites Semantic image inpainting with deep generative models,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Semantic image inpainting with deep generative models,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:20.514830Z

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Observation 154cc423-5ac4-40fd-bb37-7df008491316 · outbound

This paper cites Cu- bicasa5k: A dataset and an improved multi-task model for floorplan image analysis,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Cu- bicasa5k: A dataset and an improved multi-task model for floorplan image analysis,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:20.344559Z

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Observation 8fcd5277-7912-411e-90a3-a5394b65a534 · outbound

This paper cites Mask r-cnn,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Mask r-cnn,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:20.198194Z

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Observation cdf720aa-5bf8-47f1-8700-8fb77978e3e8 · outbound

This paper cites Autonomous spot: Long-range autonomous ex- ploration of extreme environments with legged locomotion,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Autonomous spot: Long-range autonomous ex- ploration of extreme environments with legged locomotion,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:20.080252Z

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Observation a511bf80-2b04-4a7a-917b-c3328800e378 · outbound

This paper cites Rose: Robust state estimation via online covari- ance adaption,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Rose: Robust state estimation via online covari- ance adaption,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:19.957141Z

Source-reported events for the cited work

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Observation 1215458f-5678-4f1e-8ae2-85800667f21f · outbound

This paper cites Efficient line-of-sight viewpoint sampling in complex environments for autonomous surface inspection,.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Efficient line-of-sight viewpoint sampling in complex environments for autonomous surface inspection,

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:07:19.844244Z

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Pith citing papers

Observation 83bbeef6-e48e-4f45-81d3-51a1b1f1795e · inbound

BIM Informed Visual SLAM for Construction Environments cites this paper.

BIM Informed Visual SLAM for Construction Environments Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding

Reference 21

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Source-reported events for the cited work

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