Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and manually defining such hierarchy is time-consuming and does not s...

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Veröffentlicht in:	IEEE robotics and automation letters 2024-06, Vol.9 (6), p.1-8
Hauptverfasser:	Strader, Jared, Hughes, Nathan, Chen, William, Speranzon, Alberto, Carlone, Luca
Format:	Artikel
Sprache:	eng
Schlagworte:	3D scene graphs AI-based methods Axioms Coastal environments Large language models Ontologies Ontology Predictions Robots Rural environments Semantic scene understanding Semantics Solid modeling spatial ontologies Tensors Three-dimensional displays Training Training data
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