FROSS generates 3D semantic scene graphs online and faster than real time by lifting 2D scene graphs to 3D via Gaussian distributions, without point cloud processing.
A look at gaussian mixture reduction algorithms
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FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images
FROSS generates 3D semantic scene graphs online and faster than real time by lifting 2D scene graphs to 3D via Gaussian distributions, without point cloud processing.