24 citations · 30 across the 12 of their papers we have counts for
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cs.RO2023★ 2 cited
Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies
Jared Strader, Nathan Hughes, William Chen +2
This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an out…
cs.RO2023
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
Nathan Hughes, Yun Chang, Siyi Hu +4
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge.…
cs.RO2023
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams
Yun Chang, Nathan Hughes, Aaron Ray +1
3D scene graphs have recently emerged as an expressive high-level map representation that describes a 3D environment as a layered graph where nodes represent spatial concepts at mu…