We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs.
Reading the bibliography…
Kimera: an open-source library for real-time metric-semantic localization and mapping
A. Rosinol, M. Abate, Y. Chang, and L. Carlone · 1910
Earlier work this paper cites.
Modeling spatial knowledge
B. Kuipers · 1978
Earlier work this paper cites.
Position referencing and consistent world modeling for mobile robots
R. Chatila and J.-P. Laumond · 1985
Earlier work this paper cites.
Introduction to Database and Knowledge-Base Systems
S. Krishna · 1992
Earlier work this paper cites.
The Spatial Semantic Hierarchy
B. Kuipers · 2000
Earlier work this paper cites.
Indoor layout estimation by 2d lidar and camera fusion
J. Li and R. Stevenson · 2001
Earlier work this paper cites.
Robotic mapping: a survey
S. Thrun · 2003
Earlier work this paper cites.
Inference in the space of topological maps: An MCMC-based approach
A. Ranganathan and F. Dellaert · 2004
Earlier work this paper cites.
Towards a general theory of topological maps
E. Remolina and B. Kuipers · 2004
Earlier work this paper cites.
Multi-hierarchical semantic maps for mobile robotics
C. Galindo, A. Saffiotti, S. Coradeschi, P. Buschka, J. Fernández-Madrigal, and J. González · 2005
Earlier work this paper cites.
A dynamic bounding volume hierarchy for generalized collision detection
T. Larsson and T. Akenine-Möller · 2006
Earlier work this paper cites.
Cognitive maps for mobile robots: An object based approach
S. Vasudevan, S. Gachter, M. Berger, and R. Siegwart · 2006
Earlier work this paper cites.
Voronoi random fields: Extracting the topological structure of indoor environments via place labeling
S. Friedman, H. Pasula, and D. Fox · 2007
Earlier work this paper cites.
Simultaneous localization, mapping and moving object tracking
C.-C. Wang, C. Thorpe, S. Thrun, M. Hebert, and H. Durrant-Whyte · 2007
Earlier work this paper cites.
Segmentation and recognition using structure from motion point clouds
G. J. Brostow, J. Shotton, J. Fauqueur, and R. Cipolla · 2008
Earlier work this paper cites.
Towards semantic maps for mobile robots
A. Nüchter and J. Hertzberg · 2008
Earlier work this paper cites.
Conceptual spatial representations for indoor mobile robots
H. Zender, O. M. Mozos, P. Jensfelt, G.-J. Kruijff, and W. Burgard · 2008
Earlier work this paper cites.
Subjective local maps for hybrid metric-topological slam
J.-L. Blanco, J. González, and J.-A. Fernández-Madrigal · 2009
Earlier work this paper cites.
Recovering the spatial layout of cluttered rooms
V. Hedau, D. Hoiem, and D. Forsyth · 2009
Earlier work this paper cites.
Inertial-aided klt feature tracking for a moving camera
M. Hwangbo, J. Kim, and T. Kanade · 2009
Earlier work this paper cites.
OpenSceneGraph 3.0: Beginner’s Guide
R. Wang and X. Qian · 2010
Earlier work this paper cites.
Semantic structure from motion
S. Y.-Z. Bao and S. Savarese · 2011
Earlier work this paper cites.
Learning search heuristics for finding objects in structured environments
D. Joho, M. Senk, and W. Burgard · 2011
Earlier work this paper cites.
Sampling-based algorithms for optimal motion planning
S. Karaman and E. Frazzoli · 2011
Earlier work this paper cites.
Robust real-time visual odometry with a single camera and an IMU
L. Kneip, M. Chli, and R. Siegwart · 2011
Earlier work this paper cites.
3D is here: Point Cloud Library (PCL)
R. B. Rusu and S. Cousins · 2011
Earlier work this paper cites.
Crowdinside: Automatic construction of indoor floorplans
M. Alzantot and M. Youssef · 2012
Earlier work this paper cites.
Detection, classification and tracking of moving objects in a 3d environment
A. Azim and O. Aycard · 2012
Earlier work this paper cites.
Semantic object maps for robotic housework - representation, acquisition and use
D. Pangercic, B. Pitzer, M. Tenorth, and M. Beetz · 2012
Earlier work this paper cites.
Large-scale semantic mapping and reasoning with heterogeneous modalities
A. Pronobis and P. Jensfelt · 2012
Earlier work this paper cites.
A conditional random field model for place and object classification
J. Rogers and H. I. Christensen · 2012
Earlier work this paper cites.
Multimodal cue integration through hypotheses verification for rgb-d object recognition and 6dof pose estimation
A. Aldoma, F. Tombari, J. Prankl, A. Richtsfeld, L. Di Stefano, and M. Vincze · 2013
Earlier work this paper cites.
Understanding indoor scenes using 3d geometric phrases
W. Choi, Y.-W. Chao, C. Pantofaru, and S. Savarese · 2013
Earlier work this paper cites.
Holistic scene understanding for 3d object detection with rgbd cameras
D. Lin, S. Fidler, and R. Urtasun · 2013
Earlier work this paper cites.
SLAM++: Simultaneous localisation and mapping at the level of objects
R. F. Salas-Moreno, R. A. Newcombe, H. Strasdat, P. H. J. Kelly, and A. J. Davison · 2013
Earlier work this paper cites.
Scene parsing by integrating function, geometry and appearance models
Y. Zhao and S.-C. Zhu · 2013
Earlier work this paper cites.
Revisiting the PnP problem: A fast, general and optimal solution
Y. Zheng, Y. Kuang, S. Sugimoto, K. Astrom, and M. Okutomi · 2013
Earlier work this paper cites.
Automatic room detection and reconstruction in cluttered indoor environments with complex room layouts
C. Mura, O. Mattausch, A. J. Villanueva, E. Gobbetti, and R. Pajarola · 2014
Earlier work this paper cites.
Automatic generation of structural building descriptions from 3d point cloud scans
S. Ochmann, R. Vock, R. Wessel, M. Tamke, and R. Klein · 2014
Earlier work this paper cites.
Floor plan generation and room labeling of indoor environments from laser range data
E. Turner and A. Zakhor · 2014
Cited alongside, same era.
Image retrieval using scene graphs
J. Johnson, R. Krishna, M. Stark, L.-J. Li, D. Shamma, M. Bernstein, and F.-F. Li · 2015
Cited alongside, same era.
SMPL: A skinned multi-person linear model
M. Loper, N. Mahmood, J. Romero, G. Pons-Moll, and M. J. Black · 2015
Cited alongside, same era.
DynamicFusion: Reconstruction and tracking of non-rigid scenes in real-time
R. Newcombe, D. Fox, and S. Seitz · 2015
Cited alongside, same era.
Real-time and scalable incremental segmentation on dense slam
K. Tateno, F. Tombari, and N. Navab · 2015
Cited alongside, same era.
ElasticFusion: Dense SLAM without a pose graph
T. Whelan, S. Leutenegger, R. Salas-Moreno, B. Glocker, and A. Davison · 2015
Cited alongside, same era.
Spice: Semantic propositional image caption evaluation
P. Anderson, B. Fernando, M. Johnson, and S. Gould · 2016
Cited alongside, same era.
3d semantic parsing of large-scale indoor spaces
I. Armeni, O. Sener, A. R. Zamir, H. Jiang, I. Brilakis, M. Fischer, and S. Savarese · 2016
Cited alongside, same era.
Keep it SMPL: Automatic estimation of 3d human pose and shape from a single image
F. Bogo, A. Kanazawa, C. Lassner, P. Gehler, J. Romero, and M. J. Black · 2016
Cited alongside, same era.
Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age
C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. Leonard · 2016
Cited alongside, same era.
Multimodal compact bilinear pooling for visual question answering and visual grounding
A. Fukui, D. H. Park, D. Yang, A. Rohrbach, T. Darrell, and M. Rohrbach · 2016
Cited alongside, same era.
Visual genome: Connecting language and vision using crowdsourced dense image annotations
R. Krishna, Y. Zhu, O. Groth, J. Johnson, K. Hata, J. Kravitz, S. Chen, Y. Kalantidis, L.-J. Li, D. A. Shamma, M. Bernstein, and L. Fei-Fei · 2016
Cited alongside, same era.
Holistic 3d scene parsing and reconstruction from a single rgb image
S. Huang, S. Qi, Y. Zhu, Y. Xiao, Y. Xu, and S.-C. Zhu · 2018
Later among the works it cites.
Configurable 3d scene synthesis and 2d image rendering with per-pixel ground truth using stochastic grammars
C. Jiang, S. Qi, Y. Zhu, S. Huang, J. Lin, L.-F. Yu, D. Terzopoulos, and S. Zhu · 2018
Later among the works it cites.
End-to-end recovery of human shape and pose
A. Kanazawa, M. J. Black, D. W. Jacobs, and J. Malik · 2018
Later among the works it cites.
Vso: Visual semantic odometry
K.-N. Lianos, J. L. Schönberger, M. Pollefeys, and T. Sattler · 2018
Later among the works it cites.
FloorNet: A unified framework for floorplan reconstruction from 3D scans
C. Liu, J. Wu, and Y. Furukawa · 2018
Later among the works it cites.
Pairwise consistent measurement set maximization for robust multi-robot map merging
J. G. Mangelson, D. Dominic, R. M. Eustice, and R. Vasudevan · 2018
Later among the works it cites.
Fusion++: Volumetric object-level SLAM
J. McCormac, R. Clark, M. Bloesch, A. J. Davison, and S. Leutenegger · 2018
Later among the works it cites.
QuadricSLAM: Dual quadrics from object detections as landmarks in object-oriented SLAM
L. Nicholson, M. Milford, and N. Sünderhauf · 2018
Later among the works it cites.
Sparse 3D topological graphs for micro-aerial vehicle planning
H. Oleynikova, Z. Taylor, R. Siegwart, and J. Nieto · 2018
Later among the works it cites.
Neural body fitting: Unifying deep learning and model based human pose and shape estimation
M. Omran, C. Lassner, G. Pons-Moll, P. Gehler, and B. Schiele · 2018
Later among the works it cites.
Learning to estimate 3d human pose and shape from a single color image
G. Pavlakos, L. Zhu, X. Zhou, and K. Daniilidis · 2018
Later among the works it cites.
Maskfusion: Real-time recognition, tracking and reconstruction of multiple moving objects
M. Runz, M. Buffier, and L. Agapito · 2018
Later among the works it cites.
Real-time fully incremental scene understanding on mobile platforms
J. Wald, K. Tateno, J. Sturm, N. Navab, and F. Tombari · 2018
Later among the works it cites.
Monocular 3D pose and shape estimation of multiple people in natural scenes: The importance of multiple scene constraints
A. Zanfir, E. Marinoiu, and C. Sminchisescu · 2018
Later among the works it cites.
Learning Graph-Structured Sum-Product Networks for probabilistic semantic maps
K. Zheng, A. Pronobis, and R. P. N. Rao · 2018
Later among the works it cites.
3D scene graph: A structure for unified semantics, 3D space, and camera
I. Armeni, Z.-Y. He, J. Gwak, A. R. Zamir, M. Fischer, J. Malik, and S. Savarese · 2019
Later among the works it cites.
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
J. Behley, M. Garbade, A. Milioto, J. Quenzel, S. Behnke, C. Stachniss, and J. Gall · 2019
Later among the works it cites.
Sof-slam: A semantic visual slam for dynamic environments
L. Cui and C. Ma · 2019
Later among the works it cites.
Tightly-coupled visual-inertial localization and 3D rigid-body target tracking
K. Eckenhoff, Y. Yang, P. Geneva, and G. Huang · 2019
Later among the works it cites.
Schmidt-EKF-based visual-inertial moving object tracking
P. Geneva, J. Maley, and G. Huang · 2019
Later among the works it cites.
Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery
M. Grinvald, F. Furrer, T. Novkovic, J. J. Chung, C. Cadena, R. Siegwart, and J. Nieto · 2019
Later among the works it cites.
Resolving 3d human pose ambiguities with 3d scene constraints
M. Hassan, V. Choutas, D. Tzionas, and M. J. Black · 2019
Later among the works it cites.
3-d scene graph: A sparse and semantic representation of physical environments for intelligent agents
U.-H. Kim, J.-M. Park, T.-J. Song, and J.-H. Kim · 2019
Later among the works it cites.
Panoptic segmentation
A. Kirillov, K. He, R. Girshick, C. Rother, and P. Dollar · 2019
Later among the works it cites.
Learning to Reconstruct 3D Human Pose and Shape via Model-fitting in the Loop
N. Kolotouros, G. Pavlakos, M. J. Black, and K. Daniilidis · 2019
Later among the works it cites.
Convolutional mesh regression for single-image human shape reconstruction
N. Kolotouros, G. Pavlakos, and K. Daniilidis · 2019
Later among the works it cites.
Q-Search trees: An information-theoretic approach towards hierarchical abstractions for agents with computational limitations
D. T. Larsson, D. Maity, and P. Tsiotras · 2019
Later among the works it cites.
imapper: interaction-guided scene mapping from monocular videos
A. Monszpart, P. Guerrero, D. Ceylan, E. Yumer, and N. J. Mitra · 2019
Later among the works it cites.
Panopticfusion: Online volumetric semantic mapping at the level of stuff and things
G. Narita, T. Seno, T. Ishikawa, and Y. Kaji · 2019
Later among the works it cites.
Tracking 3-D motion of dynamic objects using monocular visual-inertial sensing
K. Qiu, T. Qin, W. Gao, and S. Shen · 2019
Later among the works it cites.
Semi-supervised semantic mapping through label propagation with semantic texture meshes
R. Rosu, J. Quenzel, and S. Behnke · 2019
Later among the works it cites.
Value iteration networks on multiple levels of abstraction
D. Schleich, T. Klamt, and S. Behnke · 2019
Later among the works it cites.
Object residual constrained visual-inertial odometry
M. Shan, Q. Feng, and N. Atanasov · 2019
Later among the works it cites.
MID-Fusion: Octree-based object-level multi-instance dynamic slam
B. Xu, W. Li, D. Tzoumanikas, M. Bloesch, A. Davison, and S. Leutenegger · 2019
Later among the works it cites.
In perfect shape: Certifiably optimal 3D shape reconstruction from 2D landmarks
H. Yang and L. Carlone · 2019
Later among the works it cites.
Generating 3d people in scenes without people
Y. Zhang, M. Hassan, H. Neumann, M. J. Black, and S. Tang · 2019
Later among the works it cites.
From pixels to buildings: End-to-end probabilistic deep networks for large-scale semantic mapping
K. Zheng and A. Pronobis · 2019
Later among the works it cites.
uHumans dataset
A. Rosinol, A. Gupta, M. Abate, J. Shi, and L. Carlone · 2020
Closest in time.
TEASER: Fast and Certifiable Point Cloud Registration
H. Yang, J. Shi, and L. Carlone · 2020
Closest in time.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…