Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph systems model object geometry coarsely, relying on partial point clouds or class-level CAD templates, which limits instance-specific shape detail. This paper presents Hydra++, a system-level investigation into how learning-based object shape estimators can be integrated into a hierarchical 3D scene graph pipeline. Hydra++ incorporates category-agnostic shape estimation and a reprojection-mask consistency check to rej
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- PossiblePossibly related (embedding) · 50%ghbalf/freecad-ai →
- PossiblePossibly related (embedding) · 47%NVIDIA-ISAAC-ROS/isaac_ros_object_detection →
- LinkedLinked via arxiv author · 85%Hyungtae Lim →
“Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation”
- LinkedLinked via arxiv author · 85%Nathan Hughes →
“Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation”
- LinkedLinked via arxiv author · 85%Xihang Yu →
“Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation”
- LinkedLinked via arxiv author · 85%Ruihan Xu →
“Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation”
- LinkedLinked via arxiv author · 85%Yun Chang →
“Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation”
- LinkedLinked via arxiv author · 85%Jingnan Shi →
“Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation”