Towards Self-Supervised Object Representations and 3D Scene Graph Based Navigation
3D Scene Graphs are powerful hierarchical representations of environments that combine spatial and semantic information into multiple levels of abstraction. 3D Scene Graphs are useful for a wide range of planning tasks in robotics that benefit from high-level semantic knowledge, and also capture den...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/147509 |