Hydra: A Spatial Perception Engine for Constructing and Optimizing 3D Scene Graphs in Real-time
3D scene graphs have emerged as a powerful map representation for robotics. Scene graphs encode spatial and semantic concepts at multiple levels of abstraction as nodes in a graph, and use edges to represent relationships. Such representations offer an efficient way to model diverse environments, an...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Published: |
Massachusetts Institute of Technology
2022
|
| Online Access: | https://hdl.handle.net/1721.1/145096 https://orcid.org/0000-0002-1201-7032 |