Author

Hyungtae Lim

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Jul 2026

Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation

To address the challenges of sparse and noisy depth measurements in outdoor environments, Hydra++ supports a hybrid LiDAR-camera configuration for large-scale operation, improving scene-level reconstruction quality and improves object- and scene-level reconstruction quality.

Hyungtae Lim, Nathan Hughes, Xi-Hang Yu et al. · arXiv.org · 0 citations

Jul 2026

3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments

This paper proposes a top-down framework for synthesizing hierarchical 3D scene graphs, including a room layer -- describing the floor plan and traversability -- and an object layer modeling object layouts within each room, and proposes a novel mixed-domain graph diffusion model jointly predicting room categories, floo...

Siyi Hu, Jared Strader, Hyungtae Lim et al. · arXiv.org · 0 citations