Author

Michele Antonazzi

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Preprint Sep 2026

When to Adapt: Multi-Signal Domain Shift Detection for Efficient Training-Free Adaptation in Open-Vocabulary Segmentation

Robust and reliable perception is essential for autonomous robots operating in real-world environments, particularly in long-term missions where environmental conditions may change significantly over time. Although recent advances in Visual Foundation Models (VFMs) have improved open-vocabulary semantic segmentation, t...

Michele Antonazzi, A. C. Hernández, José Araújo et al. · 0 citations

Preprint Sep 2026

Probabilistic Scene Graphs: Hierarchical Representation and Real-time System

3D scene graphs provide semantically rich and hierarchical representations for robot perception. However, existing systems do not maintain uncertainty as an explicit belief or propagate it through the operations that construct and refine the graph. We introduce Probabilistic Scene Graph (PSG), a generalization of the c...

Waqas Ali, Michele Antonazzi, Timon Homberger et al. · 0 citations