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Found 3 papers, 3 papers with code
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
This mental model captures geometric and semantic aspects of the scene, describes the environment at multiple levels of abstractions (e. g., objects, rooms, buildings), includes static and dynamic entities and their relations (e. g., a person is in a room at a given time).
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
Our second contribution is to provide the first fully automatic Spatial PerceptIon eNgine(SPIN) to build a DSG from visual-inertial data.
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM).
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