Preprint
Sep 2026
Yggdrasil: a Layer-First 3D Scene Graph for Real-Time Querying
Robotic agents use 3D scene graphs (3DSG) to perform tasks ranging from scene understanding to scene interaction. Although an extensive body of work addresses scene graph generation, little attention has been paid to optimizing the graph for consumption, which leaves state-of-the-art perception pipelines to work around...
Arshia Akhavan, Ermanno Bartoli, Afnan Algharbi et al.
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