OpenSplatGraph: From Dense Semantic Maps to Structured Scene Graphs for Open-Vocabulary Robot Perception
Dense 3D mapping with semantic understanding is essential for robotic perception in complex environments. Recent 3D Gaussian Splatting-based mapping approaches enable high-fidelity geometry and efficient open-vocabulary perception, but typically represent semantics as unstructured feature fields that limit object-centr...
B. Nguyen, Kien Nguyen, Clinton Fookes et al.
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