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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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.