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What is: 3D Dynamic Scene Graph?

SourceKimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Year2000
Data SourceCC BY-SA - https://paperswithcode.com

3D Dynamic Scene Graph, or DSG, is a representation that captures metric and semantic aspects of a dynamic environment. A DSG is a layered graph where nodes represent spatial concepts at different levels of abstraction, and edges represent spatio-temporal relations among nodes.