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CitySTAR: Structured and Topology-Aware Reasoning for Open-Vocabulary Urban 3D Grounding

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

3D grounding aims to localize target entities in complex scenes from natural language and plays a fundamental role in embodied perception and spatial reasoning. However, existing approaches mostly rely on feature similarity or direct matching, making it difficult to connect natural-language intent with the implicit semantic and geometric structures hidden in billion-scale urban point clouds. We reformulate city-scale 3D grounding as structured constraint reasoning, where description semantics are organized into computable cross-modal constraints over open-vocabulary 3D entities, attributes, an

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