A scene graph registration network with triplet spatial encoding, shape features, and robust pose estimation aligns noisy 3D semantic maps and cuts multi-agent communication to about 52 KB per frame.
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SG-Reg: Generalizable and Efficient Scene Graph Registration
A scene graph registration network with triplet spatial encoding, shape features, and robust pose estimation aligns noisy 3D semantic maps and cuts multi-agent communication to about 52 KB per frame.