Papers › SGAligner : 3D Scene Alignment with Scene Graphs
SGAligner : 3D Scene Alignment with Scene Graphs
Sayan Deb Sarkar, Ondrej Miksik, Marc Pollefeys, Daniel Barath, Iro Armeni
Building 3D scene graphs has recently emerged as a topic in scene representation for several embodied AI applications to represent the world in a structured and rich manner. With their increased use in solving downstream tasks (eg, navigation and room rearrangement), can we leverage and recycle them for creating 3D maps of environments, a pivotal step in agent operation? We focus on the fundamental problem of aligning pairs of 3D scene graphs whose overlap can range from zero to partial and can contain arbitrary changes. We propose SGAligner, the first method for aligning pairs of 3D scene graphs that is robust to in-the-wild scenarios (ie, unknown overlap -- if any -- and changes in the environment). We get inspired by multi-modality knowledge graphs and use contrastive learning to learn a joint, multi-modal embedding space. We evaluate on the 3RScan dataset and further showcase that our method can be used for estimating the transformation between pairs of 3D scenes. Since benchmarks for these tasks are missing, we create them on this dataset. The code, benchmark, and trained models are available on the project website.
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 3D Scene Graph Alignment | 3DSSG | SGAligner | F1 | 89.3 | #2 of 2 | Archive leaderboard | report |
| 3D Scene Graph Alignment | 3DSSG | SGAligner | Hits@1 | 94.3 | #2 of 2 | Archive leaderboard | report |
| 3D Scene Graph Alignment | 3DSSG | SGAligner | MRR | 96.3 | #2 of 2 | Archive leaderboard | report |
| Point Cloud Registration | 3RScan | SGAligner | CD | 0.0111 | #2 of 2 | Archive leaderboard | report |
| Point Cloud Registration | 3RScan | SGAligner | RRE | 1.012 | #2 of 2 | Archive leaderboard | report |
| Point Cloud Registration | 3RScan | SGAligner | RTE | 1.67 | #2 of 2 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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