Terra produces a lightweight task-agnostic metric-semantic 3D scene graph for outdoor environments using terrain-aware place nodes and hierarchically organized regions.
Task and motion planning in hierarchical 3d scene graphs
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UNVERDICTED 3representative citing papers
SceneGraphGrounder builds a persistent 3D scene graph from VLM-inferred relations in 2D views and solves grounding via constrained graph alignment, achieving competitive zero-shot results on ScanRefer with only RGB-D input.
A survey that formalizes 3D Scene Graphs under a common definition, analyzes modeling choices, reviews construction from sensory data, examines applications and evaluations, and highlights open challenges with a supporting website.
citing papers explorer
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Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Terra produces a lightweight task-agnostic metric-semantic 3D scene graph for outdoor environments using terrain-aware place nodes and hierarchically organized regions.
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SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching
SceneGraphGrounder builds a persistent 3D scene graph from VLM-inferred relations in 2D views and solves grounding via constrained graph alignment, achieving competitive zero-shot results on ScanRefer with only RGB-D input.
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3D Scene Graphs: Open Challenges and Future Directions
A survey that formalizes 3D Scene Graphs under a common definition, analyzes modeling choices, reviews construction from sensory data, examines applications and evaluations, and highlights open challenges with a supporting website.