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arXiv · 2601.15025

ExPrIS: Knowledge-Level Expectations as Priors for Object Interpretation from Sensor Data

Marian Renz·Martin Günther·Felix Igelbrink·Oscar Lima·Martin Atzmueller
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Abstract

While deep learning has significantly advanced robotic object recognition, purely data-driven approaches often lack semantic consistency and fail to leverage valuable, pre-existing knowledge about the environment. This report presents the ExPrIS project, which addresses this challenge by investigating how knowledge-level expectations can serve as to improve object interpretation from sensor data. Our approach is based on the incremental construction of a 3D Semantic Scene Graph (3DSSG). We integrate expectations from two sources: contextual priors from past observations and semantic knowledge from external graphs like ConceptNet. These are embedded into a heterogeneous Graph Neural Network (GNN) to create an expectation-biased inference process. This method moves beyond static, frame-by-frame analysis to enhance the robustness and consistency of scene understanding over time. The report details this architecture, its evaluation, and outlines its planned integration on a mobile robotic platform.

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Marian Renz, Martin Günther, Felix Igelbrink, Oscar Lima, Martin Atzmueller. 2026-01-21. ExPrIS: Knowledge-Level Expectations as Priors for Object Interpretation from Sensor Data. https://doi.org/10.1007/s13218-026-00901-7

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