Methods and systems for generating graph representations of a scene

A computer-implemented method of generating a graph representation of a scene based on a single observation of the scene, said graph representation comprising a plurality of nodes and edges, wherein a node represents an object within the scene, and wherein an edge connects pairs of nodes of the plurality of nodes and represents a spatial relationship between objects within the scene, the method comprising:

• receiving sensor data representative of a perceived scene captured with a sensor;
• defining a plurality of nodes based on the received sensor data;
• creating a densely connected graph by connecting each node to a number of nearest neighbour nodes;
• predicting, for each pair of connected nodes of the densely connected graph, at least a node probability, wherein the node probability represents a probability that the pair of connected nodes represent the same object;
• and
• generating a graph representation of the perceived scene based at least on the densely connected graph, and the predicted node probability.