FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images | Paper Citation Record

Observation 2b63ee89-51d2-4fb0-b049-76499a80cbb2 · outbound

This paper cites 3D scene graph: A structure for unified semantics, 3D space, and camera.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images 3D scene graph: A structure for unified semantics, 3D space, and camera

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.766166Z

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Observation 2b6784c5-4d50-43ed-b402-62e7a3625d1d · outbound

This paper cites ORB-SLAM3: An accurate open-source library for visual, visual–inertial, and multimap slam.IEEE Trans.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images ORB-SLAM3: An accurate open-source library for visual, visual–inertial, and multimap slam.IEEE Trans

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.756515Z

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Observation 851b2a86-d36f-447f-b5c8-f6dd0cab7275 · outbound

This paper cites I-Design: Personal- ized llm interior designer.arXiv:2404.02838, 2024.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images I-Design: Personal- ized llm interior designer.arXiv:2404.02838, 2024

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-06T13:56:26.010036Z

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Observation 2620af78-ed0a-4d30-8282-ff0ea1b4f3c4 · outbound

This paper cites A look at gaussian mixture reduction algorithms.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images A look at gaussian mixture reduction algorithms

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.747604Z

Source-reported events for the cited work

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Observation fbfccc83-c216-4a6c-be11-dc39641bc411 · outbound

This paper cites LayoutGPT: Compositional visual planning and generation with large language models.Adv.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images LayoutGPT: Compositional visual planning and generation with large language models.Adv

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.738063Z

Source-reported events for the cited work

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Observation a0a856a8-67d8-490c-a58d-9be3aa638160 · outbound

This paper cites PDDL2.1: An extension to PDDL for expressing temporal planning domains.J.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images PDDL2.1: An extension to PDDL for expressing temporal planning domains.J

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.729304Z

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Observation f05a517d-2a56-4802-9e9e-b39f01ebecc1 · outbound

This paper cites GraphDreamer: Compositional 3D scene synthesis from scene graphs.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images GraphDreamer: Compositional 3D scene synthesis from scene graphs

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.718693Z

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Observation 5d989931-479c-4415-9a6e-1f80f6f0aeaa · outbound

This paper cites Image captioning with scene-graph based semantic concepts.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Image captioning with scene-graph based semantic concepts

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.708727Z

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No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation cb884f88-dd62-43be-871c-eb518372ee39 · outbound

This paper cites Visual graphs from motion (VGfM): Scene understanding with object ge- ometry reasoning.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Visual graphs from motion (VGfM): Scene understanding with object ge- ometry reasoning

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.698245Z

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Observation f3083c04-23d1-43eb-a515-ce359b4fafd0 · outbound

This paper cites FF: The fast-forward planning system.AI magazine, 22(3):57–57, 2001.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images FF: The fast-forward planning system.AI magazine, 22(3):57–57, 2001

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.688722Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 2f7311cd-bfe7-4dc8-a3da-ca0586ad9290 · outbound

This paper cites Hydra: A real-time spatial perception system for 3D scene graph con- struction and optimization.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Hydra: A real-time spatial perception system for 3D scene graph con- struction and optimization

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.679094Z

Source-reported events for the cited work

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Observation 3ce2361c-43c5-4783-824a-dd9594b132b7 · outbound

This paper cites EGTR: Extracting graph from trans- former for scene graph generation.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images EGTR: Extracting graph from trans- former for scene graph generation

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.669626Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation ab620276-3813-49ab-b198-c36ba38150a6 · outbound

This paper cites Image retrieval using scene graphs.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Image retrieval using scene graphs

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.659746Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0d865f88-9fea-4e94-908d-3f1d6e1523a6 · outbound

This paper cites Image genera- tion from scene graphs.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Image genera- tion from scene graphs

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.650780Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation bb47d7dd-89af-4674-865d-80a0484003db · outbound

This paper cites Dense relational captioning: Triple-stream networks for relationship-based captioning.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Dense relational captioning: Triple-stream networks for relationship-based captioning

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.641848Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1313050d-2244-40e5-8088-e46863892ca0 · outbound

This paper cites 3-D scene graph: A sparse and semantic rep- resentation of physical environments for intelligent agents.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images 3-D scene graph: A sparse and semantic rep- resentation of physical environments for intelligent agents

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.632473Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 016a1b94-c154-4323-8a95-ad1db1adb64f · outbound

This paper cites Kipf and Max Welling.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Kipf and Max Welling

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.623315Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 98d5817b-cf44-41fa-a8e7-52201145d9f0 · outbound

This paper cites Visual Genome: Connecting language and vision using crowdsourced dense image annotations.Int.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Visual Genome: Connecting language and vision using crowdsourced dense image annotations.Int

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.614176Z

Source-reported events for the cited work

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Observation e9e917b9-8784-4030-9448-82238c164bcf · outbound

This paper cites Relation- aware graph attention network for visual question answering.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Relation- aware graph attention network for visual question answering

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.604332Z

Source-reported events for the cited work

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Observation 878b8616-6707-4492-9933-d1d1e3ff7fbe · outbound

This paper cites Explore con- textual information for 3D scene graph generation.IEEE Trans.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Explore con- textual information for 3D scene graph generation.IEEE Trans

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.594207Z

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Observation 579c9e79-16a3-44ef-9e22-f4fac53f3704 · outbound

This paper cites RT-DETRv2: Improved Baseline with Bag-of-Freebies for Real-Time Detection Transformer.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images RT-DETRv2: Improved Baseline with Bag-of-Freebies for Real-Time Detection Transformer

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-06T13:56:26.068305Z

Source-reported events for the cited work

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Observation f8f527ff-a643-4f43-bba4-43688b6ee67b · outbound

This paper cites Kirsten, Luis Felipe Zeni, and Claudio R.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Kirsten, Luis Felipe Zeni, and Claudio R

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.583584Z

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Observation e2e346dd-e197-4ac0-a8a5-336b865d8978 · outbound

This paper cites Indoor segmentation and support inference from RGBD images.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Indoor segmentation and support inference from RGBD images

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.573771Z

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Observation a0316e46-4ba7-453b-92f5-35001be7fc81 · outbound

This paper cites PointNet: Deep learning on point sets for 3D classifica- tion and segmentation.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images PointNet: Deep learning on point sets for 3D classifica- tion and segmentation

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.563988Z

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No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 46bb791c-3e8c-4e7c-8e5e-9b973f7a7edb · outbound

This paper cites Scene graph refinement network for vi- 9 sual question answering.IEEE Trans.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Scene graph refinement network for vi- 9 sual question answering.IEEE Trans

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.553637Z

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Observation de76e2ee-f992-4839-a114-dcbad8e233a0 · outbound

This paper cites Kimera: From SLAM to spatial perception with 3D dynamic scene graphs.Int.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Kimera: From SLAM to spatial perception with 3D dynamic scene graphs.Int

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.544983Z

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Observation c86fbed8-f8c2-40af-aa00-4b8e0e80e926 · outbound

This paper cites ViNG: Learning Open-World Navigation with Visual Goals.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images ViNG: Learning Open-World Navigation with Visual Goals

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.535723Z

Source-reported events for the cited work

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Observation f5cfa2a9-358f-425b-bdc1-1a2b0fa876ed · outbound

This paper cites The Replica Dataset: A Digital Replica of Indoor Spaces.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images The Replica Dataset: A Digital Replica of Indoor Spaces

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-06T13:56:26.089995Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 139a2738-4eb5-4742-acaa-acb086b469cf · outbound

This paper cites Knowledge-based embodied question answer- ing.IEEE Trans.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Knowledge-based embodied question answer- ing.IEEE Trans

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.525913Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 42bae48d-80b4-4e14-8122-e98c70a919a3 · outbound

This paper cites RIO: 3D object instance re- localization in changing indoor environments.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images RIO: 3D object instance re- localization in changing indoor environments

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.517514Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 8496672c-9620-4763-a86f-49b0e1914bcb · outbound

This paper cites Learning 3D semantic scene graphs from 3D in- door reconstructions.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Learning 3D semantic scene graphs from 3D in- door reconstructions

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.508271Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation dd4e233c-3bb0-4de5-b55f-2f2fd71451e7 · outbound

This paper cites Learn- ing 3D semantic scene graphs with instance embeddings.Int.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Learn- ing 3D semantic scene graphs with instance embeddings.Int

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.498973Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 4d802ec1-e0e4-4aef-9a2d-764e8310ba5a · outbound

This paper cites VL-SAT: Visual-linguistic semantics assisted training for 3D semantic scene graph prediction in point cloud.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images VL-SAT: Visual-linguistic semantics assisted training for 3D semantic scene graph prediction in point cloud

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.489681Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation f86b5afd-a672-4b17-b5c5-afe8ee00db44 · outbound

This paper cites SceneGraphFusion: Incre- mental 3D scene graph prediction from rgb-d sequences.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images SceneGraphFusion: Incre- mental 3D scene graph prediction from rgb-d sequences

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.480341Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 7169c7f0-35a5-43e9-9c9b-34139a6588fd · outbound

This paper cites Incremental 3D semantic scene graph pre- diction from RGB sequences.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Incremental 3D semantic scene graph pre- diction from RGB sequences

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.471392Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 818adb65-c1f6-448d-bf22-e9d2d7e5fe5d · outbound

This paper cites Scene graph generation by iterative message passing.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Scene graph generation by iterative message passing

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.462965Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation cfc60aff-aa5b-4a56-8465-7f92dc092ad1 · outbound

This paper cites Auto-encoding scene graphs for image captioning.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Auto-encoding scene graphs for image captioning

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.454138Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 69d48156-277f-47aa-a411-06e6a74cc8ac · outbound

This paper cites Neural Motifs: Scene graph parsing with global con- text.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Neural Motifs: Scene graph parsing with global con- text

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.445004Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 6dbd16fd-1765-4ce0-a3c0-2b2bbd4047ae · outbound

This paper cites Commonscenes: Generating commonsense 3d indoor scenes with scene graph diffusion.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Commonscenes: Generating commonsense 3d indoor scenes with scene graph diffusion

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.435864Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1936d94a-eb95-4f3c-a07d-01d5ca8ca6b2 · outbound

This paper cites Echoscene: Indoor scene generation via information echo over scene graph diffusion.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Echoscene: Indoor scene generation via information echo over scene graph diffusion

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.426560Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1fe82973-1b86-4ef8-81e0-1a555841833b · outbound

This paper cites Exploiting edge-oriented reasoning for 3D point-based scene graph analysis.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Exploiting edge-oriented reasoning for 3D point-based scene graph analysis

Reference 41

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.417024Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 683b45c2-c7ab-4a47-a73b-001163ca01b9 · outbound

This paper cites EgoSG: Learning 3D scene graphs from egocentric RGB-D sequences.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images EgoSG: Learning 3D scene graphs from egocentric RGB-D sequences

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.406996Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 6d13ed03-d7cd-4df6-a920-2c3ee003e88d · outbound

This paper cites Knowledge- inspired 3D scene graph prediction in point cloud.Adv.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images Knowledge- inspired 3D scene graph prediction in point cloud.Adv

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.397114Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 623a1bf5-9ac4-4bce-8de0-ba064aebb936 · outbound

This paper cites DETRs beat YOLOs on real-time object detection.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images DETRs beat YOLOs on real-time object detection

Reference 44

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.386257Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation c0480c0e-bd47-4a89-8a1b-4f81ba5597ba · outbound

This paper cites EditRoom: LLM-parameterized Graph Diffusion for Composable 3D Room Layout Editing.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images EditRoom: LLM-parameterized Graph Diffusion for Composable 3D Room Layout Editing

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-06T13:56:26.139098Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 17f4a243-0808-48d3-99dd-5c948d83f951 · outbound

This paper cites EW A splatting.IEEE Trans.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images EW A splatting.IEEE Trans

Reference 46

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.375745Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 8d96aa19-83c4-4bbe-9adb-491573c757ea · outbound

This paper cites The only difference is the exclusion of the ‘none’ relationship category, as FROSS does not predict it.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images The only difference is the exclusion of the ‘none’ relationship category, as FROSS does not predict it

Reference 47

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T13:56:26.365349Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 71b1e9a8-eeda-47b0-a8d9-675b05ce6b5a · outbound

This paper cites near” and “on.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images near” and “on

Reference 48

Resolution: malformed identifier; raw_fallback, observed 2026-08-06T13:56:26.355225Z

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This paper cites More specifically, Figure 6 and 7 illustrate the occurrence frequency of objects and relation- ships across all categories in the dataset.

FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images More specifically, Figure 6 and 7 illustrate the occurrence frequency of objects and relation- ships across all categories in the dataset

Reference 49

Resolution: malformed identifier; raw_fallback, observed 2026-08-06T13:56:26.345558Z

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