Interactive Open-Set Semantic Mapping with a 3D Scene Graph Backend
A modular mapping architecture is demonstrated that establishes 3D Semantic Scene Graphs (3DSSGs) as its foundational back-end, enabling the dense representation of extensive environments containing thousands of unique object instances and supporting open-vocabulary queries via CLIP features without requiring any additional post-processing steps.
F. Igelbrink, Lennart Niecksch, Martin G. ̈unther et al.
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