An outdoor 3D scene graph pipeline using LiDAR-camera fusion, CLIP embeddings, and per-terrain Voronoi graphs is demonstrated on a campus dataset with qualitative results.
LIO-SAM: Tightly-coupled lidar inertial odometry via smoothing and mapping,
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Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments
An outdoor 3D scene graph pipeline using LiDAR-camera fusion, CLIP embeddings, and per-terrain Voronoi graphs is demonstrated on a campus dataset with qualitative results.