Paper Citation Record · LEDGER

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments

As of 19 August 2026, this Paper Citation Record lists 53 of 53 outbound references and 1 inbound Pith citation observation for arXiv:2506.06562.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2506.06562 v1

Coverage vector

measured 53 of 53 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T05:58:05.532995Z

measured 54 of 54 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-27T04:16:43.734503Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-03T17:18:44.187716Z

Reference resolution

53 of 53 outbound references displayed

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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation be83960c-7bca-4b6c-bec3-1056b36358ab · outbound

This paper cites ORB-SLAM2: an open-source SLAM system for monocular, stereo and Presented at the 2025 IEEE ICRA Workshop on Field Robotics RGB-D cameras,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments ORB-SLAM2: an open-source SLAM system for monocular, stereo and Presented at the 2025 IEEE ICRA Workshop on Field Robotics RGB-D cameras,

Reference 1

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Observation 181e6dbd-257a-4ffc-9825-90306b3e2889 · outbound

This paper cites iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental vari- able reordering,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental vari- able reordering,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.461434Z

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Observation 2c4ed428-2136-4b21-8182-be5f079bf5ff · outbound

This paper cites VINS-Mono: A robust and versatile monocular visual-inertial state estimator,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments VINS-Mono: A robust and versatile monocular visual-inertial state estimator,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.447381Z

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Observation e668d876-d5f9-47e5-903e-d67ca1d8132f · outbound

This paper cites Pairwise consistent measurement set maximization for robust multi-robot map merging,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Pairwise consistent measurement set maximization for robust multi-robot map merging,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.433704Z

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Observation 97756f61-7fbc-4d68-8022-8ed10ecf6389 · outbound

This paper cites LIO-SAM: Tightly-coupled lidar inertial odometry via smoothing and mapping,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments LIO-SAM: Tightly-coupled lidar inertial odometry via smoothing and mapping,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.418549Z

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Observation 51b05dd5-5142-477c-9b77-042cd2bbfb45 · outbound

This paper cites ConceptGraphs: Open-vocabulary 3D scene graphs for perception and planning,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments ConceptGraphs: Open-vocabulary 3D scene graphs for perception and planning,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.403940Z

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Observation 80b71f6b-364e-4e7c-8eba-94eff7447e24 · outbound

This paper cites Hierarchical open-vocabulary 3D scene graphs for language-grounded robot navigation,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Hierarchical open-vocabulary 3D scene graphs for language-grounded robot navigation,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.384571Z

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Observation abdae1f5-438b-48dc-9225-15553292c40c · outbound

This paper cites WildLMa: Long Horizon Loco-Manipulation in the Wild.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments WildLMa: Long Horizon Loco-Manipulation in the Wild

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-07T05:58:05.352276Z

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Observation d105d7c0-465e-417a-8bc0-39fa8c468646 · outbound

This paper cites Open-Architecture End-to-End System for Real-World Autonomous Robot Navigation.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Open-Architecture End-to-End System for Real-World Autonomous Robot Navigation

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-07T05:58:05.356628Z

Source-reported events for the cited work

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Observation 57a5f82e-d120-4d5b-8dc4-970aef176ede · outbound

This paper cites Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding

Reference 10

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Observation 6e01620a-74f4-4d32-87ce-22aa9ed1516d · outbound

This paper cites 3D scene graph: A struc- ture for unified semantics, 3D space, and camera,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments 3D scene graph: A struc- ture for unified semantics, 3D space, and camera,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.369936Z

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Observation fd217dd4-3bd8-4954-a4aa-0a7733bc97a6 · outbound

This paper cites Kimera: an open-source library for real-time metric- semantic localization and mapping,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Kimera: an open-source library for real-time metric- semantic localization and mapping,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.355893Z

Source-reported events for the cited work

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Observation 8ed12919-ba33-4c3e-802e-4bb3db2ee640 · outbound

This paper cites 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans

Reference 13

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Observation e9203f15-f96c-4da6-87cb-c8a89f7482e1 · outbound

This paper cites Hydra: A real- time spatial perception system for 3D scene graph construction and optimization,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Hydra: A real- time spatial perception system for 3D scene graph construction and optimization,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.340754Z

Source-reported events for the cited work

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Observation 412e6409-1538-4e63-b569-3c7bbca9f6a2 · outbound

This paper cites S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations

Reference 15

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Source-reported events for the cited work

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Observation 13ee1791-336c-4c16-a20c-44da608e60d4 · outbound

This paper cites S-Graphs 2.0 – a hierarchical-semantic optimization and loop closure for SLAM,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments S-Graphs 2.0 – a hierarchical-semantic optimization and loop closure for SLAM,

Reference 16

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Observation 25119f32-0e77-4a95-bfc5-2f68b2aa3a85 · outbound

This paper cites Search3D: Hierarchical Open-Vocabulary 3D Segmentation.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Search3D: Hierarchical Open-Vocabulary 3D Segmentation

Reference 17

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Observation f4f2154f-4df6-4093-8f5c-1bd494ece9ff · outbound

This paper cites Point2Graph: An end-to-end point cloud-based 3D open-vocabulary scene graph for robot navigation,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Point2Graph: An end-to-end point cloud-based 3D open-vocabulary scene graph for robot navigation,

Reference 18

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Observation 5ade5405-29d3-45d4-9e68-a048824c2064 · outbound

This paper cites Clio: Real-time task-driven open-set 3D scene graphs,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Clio: Real-time task-driven open-set 3D scene graphs,

Reference 19

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Observation 996f7491-6e7d-43ce-b852-f1db2cca9120 · outbound

This paper cites Enhancing scene understanding for vision-and-language navigation by knowledge awareness,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Enhancing scene understanding for vision-and-language navigation by knowledge awareness,

Reference 20

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Observation d66eebd6-abbd-4374-b658-575c54274a9b · outbound

This paper cites TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances

Reference 21

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Observation 4ffb327a-b82f-48d6-b7d9-4cc3f6ca3935 · outbound

This paper cites The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs

Reference 22

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Observation f20a7b1e-6e43-4464-a5f2-3fde5ed6e879 · outbound

This paper cites OpenIN: Open-Vocabulary Instance-Oriented Navigation in Dynamic Domestic Environments.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments OpenIN: Open-Vocabulary Instance-Oriented Navigation in Dynamic Domestic Environments

Reference 23

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Observation e0ec0883-2f50-4016-b66a-e2d8c5ba53ce · outbound

This paper cites TOPO-FIELD: Topometric mapping with brainin- spired hierarchical layout-object-position fields,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments TOPO-FIELD: Topometric mapping with brainin- spired hierarchical layout-object-position fields,

Reference 24

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Observation 268c45c9-dd83-4171-8d8e-82eb73d41862 · outbound

This paper cites Using language to generate state abstractions for long-range planning in outdoor environments,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Using language to generate state abstractions for long-range planning in outdoor environments,

Reference 25

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Observation 01d8b689-3be9-4b3b-a04b-cbde8f032618 · outbound

This paper cites Collaborative dynamic 3D scene graphs for automated driving,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Collaborative dynamic 3D scene graphs for automated driving,

Reference 26

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Observation c8e9ff2f-815c-4594-903d-80556f4631c7 · outbound

This paper cites Indoor and outdoor 3D scene graph gen- eration via language-enabled spatial ontologies,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Indoor and outdoor 3D scene graph gen- eration via language-enabled spatial ontologies,

Reference 27

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Observation fb7dd22a-bd78-4b41-943a-125bef51f5b8 · outbound

This paper cites Task and Motion Planning in Hierarchical 3D Scene Graphs.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Task and Motion Planning in Hierarchical 3D Scene Graphs

Reference 28

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Observation 998f437d-2d83-497a-917c-590093629a3b · outbound

This paper cites Visual genome: Con- necting language and vision using crowdsourced dense image annotations,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Visual genome: Con- necting language and vision using crowdsourced dense image annotations,

Reference 29

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Observation 58ae82de-60a2-4c2d-90da-3994efb097c2 · outbound

This paper cites 3D semantic parsing of large-scale indoor spaces,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments 3D semantic parsing of large-scale indoor spaces,

Reference 30

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Observation eba9fc41-aed2-4c1d-9db3-1e6853320b20 · outbound

This paper cites GPT-4o technical report,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments GPT-4o technical report,

Reference 31

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Observation d64184df-fadd-40f1-b8b6-5bdbb3c9f528 · outbound

This paper cites LLaMA: Open and Efficient Foundation Language Models.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments LLaMA: Open and Efficient Foundation Language Models

Reference 32

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Observation 0788d509-7955-41fa-848f-e3d7d7ef38e6 · outbound

This paper cites Learning transferable visual models from natural language supervision,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Learning transferable visual models from natural language supervision,

Reference 33

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Observation 6c290b30-acba-45a1-ad09-473a72b7b34c · outbound

This paper cites ConceptFusion: Open-set multimodal 3D mapping,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments ConceptFusion: Open-set multimodal 3D mapping,

Reference 34

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Observation 08f6a20a-11a6-4784-bf82-91df4bbede6b · outbound

This paper cites Segment anything,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Segment anything,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.142560Z

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Observation bfe904e5-0965-4922-bb3d-9ab5f215c238 · outbound

This paper cites SAM 2: Segment Anything in Images and Videos.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments SAM 2: Segment Anything in Images and Videos

Reference 36

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Observation 6bf1bcc1-f9b8-43c0-a538-2dc6cb6e532b · outbound

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Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Fast Segment Anything

Reference 37

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This paper cites Faster segment anything: Towards lightweight SAM for mobile applications,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Faster segment anything: Towards lightweight SAM for mobile applications,

Reference 38

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Observation 2b9eb217-df4b-4715-8321-8467dc94e24e · outbound

This paper cites YOLO-World: Real-time open-vocabulary object detection,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments YOLO-World: Real-time open-vocabulary object detection,

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.103240Z

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Observation 77e637f2-1eec-430a-9d86-18a9b106bbea · outbound

This paper cites Deep multispectral semantic scene understand- ing of forested environments using multimodal fu- sion,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Deep multispectral semantic scene understand- ing of forested environments using multimodal fu- sion,

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.088952Z

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Observation bf9c3874-a812-4610-a1d1-e51035828c9f · outbound

This paper cites Real-time semantic mapping for au- tonomous off-road navigation,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Real-time semantic mapping for au- tonomous off-road navigation,

Reference 41

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.074067Z

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Observation c8f213b8-8e8a-408c-b93f-8074c67d6d2c · outbound

This paper cites A RUGD dataset for autonomous navigation and visual perception in unstructured outdoor environ- ments,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments A RUGD dataset for autonomous navigation and visual perception in unstructured outdoor environ- ments,

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.060061Z

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Observation fe340ec0-8e84-478e-8d35-cb90807268c3 · outbound

This paper cites RELLIS-3D dataset: Data, benchmarks and analysis,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments RELLIS-3D dataset: Data, benchmarks and analysis,

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.047056Z

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Observation 6624e1cc-c048-46ca-b557-96b0ef48a88e · outbound

This paper cites A fine-grained dataset and its efficient semantic segmenta- tion for unstructured driving scenarios,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments A fine-grained dataset and its efficient semantic segmenta- tion for unstructured driving scenarios,

Reference 44

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.033650Z

Source-reported events for the cited work

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Observation d5d05c7b-e6ef-409d-90f4-a8674fe26482 · outbound

This paper cites The GOOSE dataset for perception in unstructured environments,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments The GOOSE dataset for perception in unstructured environments,

Reference 45

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.018213Z

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Observation dcc56379-876d-45b8-b5a5-c0102b735922 · outbound

This paper cites Excavating in the wild: The GOOSE-Ex dataset for semantic segmentation,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Excavating in the wild: The GOOSE-Ex dataset for semantic segmentation,

Reference 46

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Source-reported events for the cited work

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Observation c0847043-9376-491e-b44a-0e66ac2160d3 · outbound

This paper cites Wild- Scenes: A benchmark for 2D and 3D semantic seg- mentation in large-scale natural environments,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Wild- Scenes: A benchmark for 2D and 3D semantic seg- mentation in large-scale natural environments,

Reference 47

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.000891Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation f9813d56-e695-43b4-8ebe-a44c3abec88c · outbound

This paper cites LOAM: Lidar odometry and Presented at the 2025 IEEE ICRA Workshop on Field Robotics mapping in real-time,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments LOAM: Lidar odometry and Presented at the 2025 IEEE ICRA Workshop on Field Robotics mapping in real-time,

Reference 48

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:05.986058Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 2a07f3fa-37cb-4478-bae7-d08724d08985 · outbound

This paper cites YOLOv8: A novel object detection algorithm with enhanced performance and robustness,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments YOLOv8: A novel object detection algorithm with enhanced performance and robustness,

Reference 49

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:05.971300Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation f1bb54c0-1c8f-4b4e-b713-b46c3a337665 · outbound

This paper cites Multidimensional binary search trees used for associative searching,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Multidimensional binary search trees used for associative searching,

Reference 50

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:05.956910Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 627c334a-dc2a-43ae-a107-a95bfe50fa21 · outbound

This paper cites Efficient grid- based spatial representations for robot navigation in dynamic environments,.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Efficient grid- based spatial representations for robot navigation in dynamic environments,

Reference 51

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:05.943269Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 44085c93-1359-4407-9c11-7a9a8f322532 · outbound

This paper cites Available: https://arxiv.org/abs/2306.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Available: https://arxiv.org/abs/2306

Reference 2023

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.115980Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation eb2a5b03-8ca1-41e5-bb8a-ae6808d12123 · outbound

This paper cites Available: https://arxiv.org/abs/2409.

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments Available: https://arxiv.org/abs/2409

Reference 2024

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:58:06.310702Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Pith citing papers

Observation aa007ab7-96a2-4ad6-8979-b41a7c730ef0 · inbound

3D Scene Graphs: Open Challenges and Future Directions cites this paper.

3D Scene Graphs: Open Challenges and Future Directions Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments

Reference 129

Resolution: verified exact; arxiv_id, observed 2026-07-03T17:18:44.189273Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.