Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"Scene Graphs"”.
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Articulated 3D Scene Graphs from Egocentric Vision
… typically approach building metric-semantic scene representations from the robot’s own sensors and cameras. However, these “first person” maps inherit the robot’s own limitations due to its embodiment or skillset, which may leave many aspects of the environment unexplored. For example, the …
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A network design architecture for distribution of generic scene graphs
… project examines a new approach: using generic scene graphs as a bus, for graphics distribution. This thesis (as part of the SOFT project) examines network architecture for distribution of generic scene graphs. We design and implement the network architecture with a centralized Java server. This …
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Towards Reinforcement-Learning-based Robot Navigation with 3D Scene Graphs
… RL models guiding autonomous agents, we use 3D Scene Graphs (3DSGs) as a map representation. Previous work has shown that RL policies based on offline 3DSGs produce promising results in simulation, and this work takes initial steps towards extending these findings to 3DSGs produced online by …
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Infrastructure for modeling and inference engineering with 3D generative scene graphs
… using a rich abstract representation of 3D scene geometry called a scene graph. However, there remain several challenges in the practical implementation of scene graph models, including human-editable specification, visualization, priors, structure inference, hyperparameters tuning, and …
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Hydra: A Spatial Perception Engine for Constructing and Optimizing 3D Scene Graphs in Real-time
3D scene graphs have emerged as a powerful map representation for robotics. Scene graphs encode spatial and semantic concepts at multiple levels of abstraction as nodes in a graph, and use edges to represent relationships. Such representations offer an efficient way to model diverse environments, …
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Towards Self-Supervised Object Representations and 3D Scene Graph Based Navigation
3D Scene Graphs are powerful hierarchical representations of environments that combine spatial and semantic information into multiple levels of abstraction. 3D Scene Graphs are useful for a wide range of planning tasks in robotics that benefit from high-level semantic knowledge, and also capture …
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Enhancing 3D Scene Graph Generation with Multimodal Embeddings
3D Scene Graphs are expressive map representations for scene understanding in robotics and computer vision. Current approaches for automated zero-shot 3D Scene Graph generation rely on spatial ontologies that relate objects with the semantic locations they are found in (e.g., a fork is found in a …
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Learning multiple solutions to computer vision problems
… such as image colorization, image captioning and scene-graph prediction. Our strategy to generate multiple solutions is as follows – (i) We first generate multiple proposals given the input image. These proposals are not to be confused with the object or region proposals of detection networks. Our …
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Performance Enhancements to Visual-Inertial SLAM for Robots and Autonomous Vehicles
… method for detecting and tracking humans in the scene in order to build 3D Dynamic Scene Graphs for high-level perception tasks, and evaluate our method in a photorealistic simulation environment. We conclude by commenting on the advantages of Kimera and identifying areas for future work.
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3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM
… and robots to have a shared understanding of the scene, while providing the robot with sufficient information to localize, plan shortest paths, and avoid obstacles along the way. We then present a novel 3D representation that abstracts a dense metric-semantic map into higher-level concepts – such …
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Spatiotemporal Event Graphs for Dynamic Scene Understanding
Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene understanding starting from road event detection from an autonomous …
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Scaling 3D Scene Perception via Probabilistic Programming
… of the world. This is the problem of 3D scene perception. How do we transform raw visual input into 3D representations of the world? 3D scene perception has numerous applications from robotics to augmented reality. Despite the advances over the last decade, 3D perception remains a major …
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Zero-Shot Scene Graph Relationship Prediction using VLMs
Scene Graph Relationship Prediction aims to predict the interaction between the objects in an image. Despite the recent surge of interest in open-vocabulary and zero-shot SGG, most approaches still require some form of training or adaptation on the target dataset, even when using Vision-Language …
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Reasoning over Hierarchical Abstractions for Long-Horizon Planning in Robotics
… from real perception using hierarchical scene graphs, ensuring that when we refine our abstract plans within these representations, the low-level trajectories still satisfy the given task’s constraints. A major contribution of this work is an approach for planning efficiently in these …
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Enabling 3D Visualization of Simulated Construction Operations
… graphics technology based on the concept of the "Scene Graph" to design and implement a general-purpose 3D Visualization System that is Simulation and CAD-software independent. This system, the "Dynamic Construction Visualizer", enables realistic visualization of modeled construction operations …