# PanoGraphGS unifies panoptic segmentation and hierarchical 3D scene graph construction, releases NaviGS dataset

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/mpd8qtzewpq24b1ns8lejhjsr
- Original: https://arxiv.org/abs/2610.27696

## Summary

PanoGraphGS integrates panoramic 3D Gaussian representation learning and hierarchical 3D scene graph construction into a single framework, learning semantic and instance features on shared Gaussian geometry to achieve cross-view-consistent panoptic prediction and novel-view panoptic segmentation.