IRS builds instance-level 3D scene graphs faster by using LiDAR room priors to constrain and parallelize semantic fusion from vision-language models.
Kimera: an open- source library for real-time metric-semantic localization and mapping,
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IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion
IRS builds instance-level 3D scene graphs faster by using LiDAR room priors to constrain and parallelize semantic fusion from vision-language models.