2 papers
cs.RO2020
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
Antoni Rosinol, Arjun Gupta, Marcus Abate +2
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. o…
cs.RO2019
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
Antoni Rosinol, Marcus Abate, Yun Chang +1
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual…