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| Natura: | Preprint |
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2026
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| Accesso online: | https://arxiv.org/abs/2604.23095 |
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| _version_ | 1866913061728681984 |
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| author | Dimopoulos, Alexander Nikitas Grasso, Joseph Beltz, John |
| author_facet | Dimopoulos, Alexander Nikitas Grasso, Joseph Beltz, John |
| contents | Indoor environments lack the spatial intelligence infrastructure that GPS provides outdoors; first responders arriving at unfamiliar buildings typically have no machine-readable map of safety equipment. Prior work on 3D semantic segmentation for public safety identified two barriers: scarcity of labeled indoor training data and poor recognition of small safety-critical features by native point-cloud methods. This paper presents INSIGHT, a zero-target-domain-annotation pipeline that projects 2D image understanding into 3D metric space via registered RGB-D data. Two interchangeable vision stacks share a common 3D back end: a SAM3 foundation-model stack for text-prompted segmentation, and a traditional CV stack (open-set detection, VQA, OCR) whose intermediate outputs are independently inspectable. Evaluated on all seven subareas of Stanford 2D-3D-S (70{,}496 images), the pipeline produces Pointcept-schema-compatible labeled point clouds and ISO~19164-compliant scene graphs with ${\sim}10^{4}{\times}$ compression; role-filtered payloads transmit in ${<}15$\,s at 1\,Mbps over FirstNet Band~14. We report per-point labeling accuracy on 7 shared classes, detection sensitivity for 15 safety-critical classes absent from public 3D benchmarks alongside code-capped deployable estimates, and inter-pipeline complementarity, demonstrating that 2D-to-3D semantic transfer addresses the labeled-data bottleneck while scene graphs provide building intelligence compact enough for field deployment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_23095 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety Dimopoulos, Alexander Nikitas Grasso, Joseph Beltz, John Computer Vision and Pattern Recognition Emerging Technologies Indoor environments lack the spatial intelligence infrastructure that GPS provides outdoors; first responders arriving at unfamiliar buildings typically have no machine-readable map of safety equipment. Prior work on 3D semantic segmentation for public safety identified two barriers: scarcity of labeled indoor training data and poor recognition of small safety-critical features by native point-cloud methods. This paper presents INSIGHT, a zero-target-domain-annotation pipeline that projects 2D image understanding into 3D metric space via registered RGB-D data. Two interchangeable vision stacks share a common 3D back end: a SAM3 foundation-model stack for text-prompted segmentation, and a traditional CV stack (open-set detection, VQA, OCR) whose intermediate outputs are independently inspectable. Evaluated on all seven subareas of Stanford 2D-3D-S (70{,}496 images), the pipeline produces Pointcept-schema-compatible labeled point clouds and ISO~19164-compliant scene graphs with ${\sim}10^{4}{\times}$ compression; role-filtered payloads transmit in ${<}15$\,s at 1\,Mbps over FirstNet Band~14. We report per-point labeling accuracy on 7 shared classes, detection sensitivity for 15 safety-critical classes absent from public 3D benchmarks alongside code-capped deployable estimates, and inter-pipeline complementarity, demonstrating that 2D-to-3D semantic transfer addresses the labeled-data bottleneck while scene graphs provide building intelligence compact enough for field deployment. |
| title | INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety |
| topic | Computer Vision and Pattern Recognition Emerging Technologies |
| url | https://arxiv.org/abs/2604.23095 |