INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety

• URL: http://arxiv.org/abs/2604.23095v1
• Date: Sat, 25 Apr 2026 01:17:45 GMT
• Title: INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety
• Abstract summary: This paper presents INSIGHT, a pipeline that projects 2D image understanding into 3D metric space via registered RGB-D data.<n>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.
• Score: 41.99844472131922
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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