Terra produces a lightweight task-agnostic metric-semantic 3D scene graph for outdoor environments using terrain-aware place nodes and hierarchically organized regions.
Task and motion planning in hierarchical 3d scene graphs,
2 Pith papers cite this work. Polarity classification is still indexing.
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SceneGraphGrounder builds a persistent 3D scene graph from VLM-inferred relations in 2D views and solves grounding via constrained graph alignment, achieving competitive zero-shot results on ScanRefer with only RGB-D input.
citing papers explorer
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Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Terra produces a lightweight task-agnostic metric-semantic 3D scene graph for outdoor environments using terrain-aware place nodes and hierarchically organized regions.
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SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching
SceneGraphGrounder builds a persistent 3D scene graph from VLM-inferred relations in 2D views and solves grounding via constrained graph alignment, achieving competitive zero-shot results on ScanRefer with only RGB-D input.