A Bottom-up Framework for Construction of Structured Semantic 3D Scene Graph

Bangguo Yu, Chongyu Chen, Fengyu Zhou, Fang Wan, Wenmi Zhuang, Yang Zhao
October 2020
Go to Project Site Code Video
3D scene graph
Type
Conference paper
Publication
In IEEE/RSJ International Conference on Intelligent Robots and Systems

Supplementary video

The AOG structure.
The inference from perception.
The result of the parse graph from different methods.
The result of the accuracy from different methods.

We use laser to provide the location information and use scene graph to achieve the target-driven navigation.

The demo in Webots to achieve semantic navigation.
3D Scene Graph Robotics