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Open-Set 3D Scene Graphs for Field Robotics: An Outdoor Case Study

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Three-dimensional scene graphs (3DSGs) have emerged as a promising approach for building geometrically grounded, semantically informed, hierarchical general-purpose maps to support high-level robotic reasoning. However, the behavior of 3DSGs in real-world outdoor deployments remains poorly understood, particularly when combined with open-set vision-language models (VLMs). In this field report, we analyze the components common to most 3DSG representations across five outdoor robotic datasets to characterize challenges that arise in complex outdoor environments. Using the recently proposed Terra

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