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Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
[article]
2022
arXiv
pre-print
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and edges represent relations between concepts. While 3D scene graphs can serve as an advanced "mental model" for robots, how to build such a rich representation in real-time is still uncharted territory. This paper describes a real-time Spatial Perception System, a
arXiv:2201.13360v2
fatcat:llxzh6tgrnbzxfh3rcdn5ctg4m