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