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cs.RO2026
Open-Set 3D Scene Graphs for Field Robotics: An Outdoor Case Study
Chad R. Samuelson, Gabriel R. Slade, Joshua G. Mangelson
Three-dimensional scene graphs (3DSGs) have emerged as a promising approach for building geometrically grounded, semantically informed, hierarchical general-purpose maps to support…
cs.RO2025
Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Chad R. Samuelson, Abigail Austin, Seth Knoop +4
Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environ…