arxivcs.CVcs.RO2026-07-10
Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
Hyungtae Lim, Nathan Hughes, Xihang Yu, Ruihan Xu, Yun Chang, Jingnan Shi, et al.
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph systems model object geometry coarsely, relying on partial point clouds or class-level CAD templates…