PredictiveGraphs embeds Bayesian Perpetua* filters into 3D scene graph edges to predict future object states in semi-static scenes and outperforms baselines in simulation and three-week real-world tests.
Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age.T-RO, 32(6):1309–1332
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Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes
PredictiveGraphs embeds Bayesian Perpetua* filters into 3D scene graph edges to predict future object states in semi-static scenes and outperforms baselines in simulation and three-week real-world tests.