Abstract
Scene graphs can enhance the understanding capability of intelligent ships in navigation scenes. However, the complex entity relationships and the presence of significant noise in contextual information within navigation scenes pose challenges for navigation scene graph generation (NSGG). To address these issues, this paper proposes a novel NSGG network named SGK-Net. This network comprises three innovative modules. The Semantic-Guided Multimodal Fusion (SGMF) module utilizes prior information on relationship semantics to fuse multimodal information and construct relationship features, thereby elucidating the relationships between entities and reducing semantic ambiguity caused by complex relationships. The Graph Structure Learning-based Structure Evolution (GSLSE) module, based on graph structure learning, reduces redundancy in relationship features and optimizes the computational complexity in subsequent contextual message passing. The Key Entity Message Passing (KEMP) module takes full advantage of contextual information to refine relationship features, thereby reducing noise interference from non-key nodes. Furthermore, this paper constructs the first Ship Navigation Scene Graph Simulation dataset, named SNSG-Sim, which provides a foundational dataset for the research on ship navigation SGG. Experimental results on the SNSG-sim dataset demonstrate that our method achieves an improvement of 8.31% (R@50) in the PredCls task and 7.94% (R@50) in the SGCls task compared to the baseline method, validating the effectiveness of our method in navigation scene graph generation.