2 papers
cs.CV2026
DISC: Dense Integrated Semantic Context for Large-Scale Open-Set Semantic Mapping
Felix Igelbrink, Lennart Niecksch, Martin Atzmueller +1
Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive cr…
cs.RO2024
Mesh-based Object Tracking for Dynamic Semantic 3D Scene Graphs via Ray Tracing
Lennart Niecksch, Alexander Mock, Felix Igelbrink +2
In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s mod…