arXiv:2512.18613cs.CVcs.AI2025-12

用文本生成图结构,让机器定位更透明可解释。

Text2Graph VPR: A Text-to-Graph Expert System for Explainable Place Recognition in Changing Environments

  • 将图像转为文本再构建成语义图,捕捉物体与关系
  • 融合图注意力与最短路径匹配,实现鲁棒定位
  • 结果可读性强,适合安全关键和资源受限场景

长期部署的视觉位置识别(VPR)需超越像素相似性进行推理:系统必须做出透明、可解释的决策,且在光照、天气和季节变化下仍具鲁棒性。我们提出Text2Graph VPR,一种可解释的语义定位系统,将图像序列转换为文本场景描述,解析为结构化场景图,并基于图结构进行位置识别。场景图捕捉物体、属性及成对关系;我们通过聚合帧级图生成紧凑的位置表示,并采用双相似性机制融合学习的图注意力网络(GAT)嵌入与最短路径(SP)核进行结构匹配。该混合设计兼顾语义匹配与拓扑感知比较,并生成人类可读的中间表示,支持诊断分析,提升决策透明度。我们在Oxford RobotCar和MSLS(Amman/San Francisco)基准上验证了系统性能,在严重外观变化下仍保持稳健检索能力,并实现零样本的人类文本查询操作。结果表明,基于语义图的推理是可行且可解释的位置识别替代方案,尤其适用于安全敏感和资源受限场景。

原文摘要 · Abstract (English)

Visual Place Recognition (VPR) in long-term deployment requires reasoning beyond pixel similarity: systems must make transparent, interpretable decisions that remain robust under lighting, weather and seasonal change. We present Text2Graph VPR, an explainable semantic localization system that converts image sequences into textual scene descriptions, parses those descriptions into structured scene graphs, and reasons over the resulting graphs to identify places. Scene graphs capture objects, attributes and pairwise relations; we aggregate per-frame graphs into a compact place representation and perform retrieval with a dual-similarity mechanism that fuses learned Graph Attention Network (GAT) embeddings and a Shortest-Path (SP) kernel for structural matching. This hybrid design enables both learned semantic matching and topology-aware comparison, and -- critically -- produces human-readable intermediate representations that support diagnostic analysis and improve transparency in the decision process. We validate the system on Oxford RobotCar and MSLS (Amman/San Francisco) benchmarks and demonstrate robust retrieval under severe appearance shifts, along with zero-shot operation using human textual queries. The results illustrate that semantic, graph-based reasoning is a viable and interpretable alternative for place recognition, particularly suited to safety-sensitive and resource-constrained settings.

视觉定位可解释性图神经网络语义理解

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