@article{occupancygroundedroomsegmentationforhier,
  title = {Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs},
  author = {Carlos Cueto Zumaya and Iacopo Catalano and Jorge Peña-Queralta and Wallace Moreira Bessa},
  year = {2026},
  eprint = {2606.13727},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.13727},
}