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OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects
Integrating open-vocabulary perception into object-level 3D scene graphs is a double-edged sword. While vision-language detectors recover long-tail categories and small, fine-grained objects overlooked by closed-set models, they also tend to fragment large surfaces and merge small objects into large
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