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3D scene graphs have recently emerged as a powerful high-level representation of 3D environments.
Kimera: an open-source library for real-time metric-semantic localization and mapping
A. Rosinol, M. Abate, Y. Chang, and L. Carlone · 1910
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Modeling spatial knowledge
B.J. Kuipers · 1978
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Position referencing and consistent world modeling for mobile robots
R. Chatila and J.-P. Laumond · 1985
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The Spatial Semantic Hierarchy
B.J. Kuipers · 2000
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TEASER: Fast and Certifiable Point Cloud Registration
H. Yang, J. Shi, and L. Carlone · 2001
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Robotic mapping: a survey
S. Thrun · 2003
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Multi-hierarchical semantic maps for mobile robotics
C. Galindo, A. Saffiotti, S. Coradeschi, P. Buschka, J.A. Fernández-Madrigal, and J. González · 2005
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Voronoi random fields: Extracting the topological structure of indoor environments via place labeling
Stephen Friedman, Hanna Pasula, and Dieter Fox · 2007
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Embedded deformation for shape manipulation
R. Sumner, J. Schmid, and M. Pauly · 2007
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Fast unfolding of communities in large networks
Vincent D Blondel, Jean-Loup Guillaume, Renaud Lambiotte, and Etienne Lefebvre · 2008
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Conceptual spatial representations for indoor mobile robots
H. Zender, O. Martínez Mozos, P. Jensfelt, G.-J.M. Kruijff, and W. Burgard · 2008
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Reconstructing building interiors from images
Y. Furukawa, B. Curless, S. M. Seitz, and R. Szeliski · 2009
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Bags of binary words for fast place recognition in image sequences
Dorian Gálvez-López and J. D. Tardós · 2012
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Efficient grid-based spatial representations for robot navigation in dynamic environments
Boris Lau, Christoph Sprunk, and Wolfram Burgard · 2012
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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
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nanoflann: a C++ header-only fork of FLANN, a library for nearest neighbor (NN) with kd-trees
Jose Luis Blanco and Pranjal Kumar Rai · 2014
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Multi-resolution surfel maps for efficient dense 3d modeling and tracking
J. Stückler and S. Behnke · 2014
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Real-time and scalable incremental segmentation on dense SLAM
K. Tateno, F. Tombari, and N. Navab · 2015
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Real-time large-scale dense RGB-D SLAM with volumetric fusion
T. Whelan, M. Kaess, H. Johannsson, M. Fallon, J. Leonard, and J. McDonald · 2015
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NetVLAD: CNN architecture for weakly supervised place recognition
R. Arandjelovic, P. Gronat, A. Torii, T. Pajdla, and J. Sivic · 2016
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Room segmentation: Survey, implementation, and analysis
Richard Bormann, Florian Jordan, Wenzhe Li, Joshua Hampp, and Martin H agele · 2016
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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.J. Leonard · 2016
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Incremental scene understanding on dense SLAM
C. Li, H. Xiao, K. Tateno, F. Tombari, N. Navab, and G. D. Hager · 2016
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Visual place recognition: A survey
S. Lowry, N. Sünderhauf, P. Newman, J. Leonard, D. Cox, P. Corke, and M. Milford · 2016
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ElasticFusion: Real-Time Dense SLAM and Light Source Estimation
T. Whelan, R.F. Salas-Moreno, B. Glocker, A. J. Davison, and S. Leutenegger · 2016
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Probabilistic data association for semantic SLAM
S.L. Bowman, N. Atanasov, K. Daniilidis, and G.J. Pappas · 2017
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Bundlefusion: Real-time globally consistent 3d reconstruction using on-the-fly surface reintegration
Angela Dai, Matthias Nießner, Michael Zollhöfer, Shahram Izadi, and Christian Theobalt · 2017
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Visual-Inertial-Semantic scene representation for 3D object detection
J. Dong, X. Fei, and S. Soatto · 2017
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A solution to room-by-room coverage for autonomous cleaning robots
Alexander Kleiner, Rodrigo Baravalle, Andreas Kolling, Pablo Pilotti, and Mario Munich · 2017
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Room layout estimation from rapid omnidirectional exploration
Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps
V. Reijgwart, A. Millane, H. Oleynikova, R. Siegwart, C. Cadena, and J. Nieto · 2020
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3D dynamic scene graphs: Actionable spatial perception with places, objects, and humans
A. Rosinol, A. Gupta, M. Abate, J. Shi, and L. Carlone · 2020
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Object residual constrained visual-inertial odometry
M. Shan, Q. Feng, and N. Atanasov · 2020
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Learning 3D semantic scene graphs from 3D indoor reconstructions
Johanna Wald, Helisa Dhamo, Nassir Navab, and Federico Tombari · 2020
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Deep high-resolution representation learning for visual recognition
Jingdong Wang, Ke Sun, Tianheng Cheng, Borui Jiang, Chaorui Deng, Yang Zhao, Dong Liu, Yadong Mu, Mingkui Tan, Xinggang Wang, Wenyu Liu, and Bin Xiao · 2020
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R. Lukierski, S. Leutenegger, and A. J. Davison · 2017
Cited alongside, same era.
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks
J. McCormac, A. Handa, A. J. Davison, and S. Leutenegger · 2017
Cited alongside, same era.
Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning
Helen Oleynikova, Zachary Taylor, Marius Fehr, Roland Siegwart, and Juan Nieto · 2017
Cited alongside, same era.
Building multiversal semantic maps for mobile robot operation
Jose-Raul Ruiz-Sarmiento, Cipriano Galindo, and Javier Gonzalez-Jimenez · 2017
Cited alongside, same era.
Scene parsing through ade20k dataset
Bolei Zhou, Hang Zhao, Xavier Puig, Sanja Fidler, Adela Barriuso, and Antonio Torralba · 2017
Cited alongside, same era.
X-view: Graph-based semantic multi-view localization
Abel Gawel, Carlo Del Don, Roland Siegwart, Juan Nieto, and Cesar Cadena · 2018
Cited alongside, same era.
Vso: Visual semantic odometry
K. Lianos, J. Schönberger, M. Pollefeys, and T. Sattler · 2018
Cited alongside, same era.
Building fusion: Semantic-aware structural building-scale 3d reconstruction
Tian Zheng, Guoqing Zhang, Lei Han, Lan Xu, and Lu Fang · 2020
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Taskography: Evalutation robot task planning over large 3D scene graphs
C. Agia, J. Krishna Murthyand M. Khodeir, O. Miksik, V. Vineet, M. Mukadam, L. Paull, and F. Shkurti · 2021
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Outlier-robust estimation: Hardness, minimally tuned algorithms, and applications
P. Antonante, V. Tzoumas, H. Yang, and L. Carlone · 2021
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Beit: Bert pre-training of image transformers, 2021
Hangbo Bao, Li Dong, and Furu Wei · 2021
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Cswin transformer: A general vision transformer backbone with cross-shaped windows, 2021
Xiaoyi Dong, Jianmin Bao, Dongdong Chen, Weiming Zhang, Nenghai Yu, Lu Yuan, Dong Chen, and Baining Guo · 2021
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Seqnet: Learning descriptors for sequence-based hierarchical place recognition
Sourav Garg and Michael Milford · 2021
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3DP3: 3D scene perception via probabilistic programming
N. Gothoskar, M. Cusumano-Towner, B. Zinberg, M. Ghavamizadeh, F. Pollok, A. Garrett, J.B. Tenenbaum, D. Gutfreund, and V.K. Mansinghka · 2021
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FaPN: Feature-aligned pyramid network for dense image prediction
Shihua Huang, Zhichao Lu, Ran Cheng, and Cheng He · 2021
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Scene understanding and distribution modeling with mixed-integer scene parsing
Gregory Izatt and Russ Tedrake · 2021
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Topology aware object-level semantic mapping towards more robust loop closure
Shiqi Lin, Jikai Wang, Meng Xu, Hao Zhao, and Zonghai Chen · 2021
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Hierarchical object map estimation for efficient and robust navigation
Kyel Ok, Katherine Liu, and Nicholas Roy · 2021
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Semantic loop closure detection based on graph matching in multi-objects scenes
Cao Qin, Yunzhou Zhang, Yingda Liu, and Guanghao Lv · 2021
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Kimera: from SLAM to spatial perception with 3D dynamic scene graphs
A. Rosinol, A. Violette, M. Abate, N. Hughes, Y. Chang, J. Shi, A. Gupta, and L. Carlone · 2021
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Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger, Juan Nieto, Marc Pollefeys, Roland Siegwart, and Cesar Cadena · 2021
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Fast and memory efficient graph optimization via ICM for visual place recognition
Stefan Schubert, Peer Neubert, and Peter Protzel · 2021
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MonteFloor: Extending MCTS for reconstructing accurate large-scale floor plans, 2021
Sinisa Stekovic, Mahdi Rad, Friedrich Fraundorfer, and Vincent Lepetit · 2021
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Neural trees for learning on graphs
R. Talak, S. Hu, L. Peng, and L. Carlone · 2021
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SceneGraphFusion: Incremental 3D scene graph prediction from RGB-D sequences
S. Wu, J. Wald, K. Tateno, N. Navab, and F. Tombari · 2021
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Z. Ravichandran, L. Peng, N. Hughes, J.D. Griffith, and L. Carlone · 2022
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