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T-ConSG: Real-Time Temporal Construction Scene Graphs from LiDAR
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Yilong Chen and Yong K. Cho submitted a paper proposing T-ConSG, a real-time temporal construction scene graph based on LiDAR, which uses spatial-relation edges and event-participation edges to simultaneously represent free space, static objects, dynamic objects, and environmental events. The framework incrementally builds the graph from LiDAR geometric evidence and explicitly represents changes in accumulated spatial evidence as installation and removal events. The authors report validating the representation in three studies: dynamic-aware navigation on a bricklaying testbed, construction progress monitoring on the ConSLAM dataset, and online change detection in a simulated environment. The paper has been submitted to IEEE Robotics and Automation Letters (RA-L).
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- T-ConSG: A LiDAR-Based Real-Time Temporal Scene Graph for Dynamic Construction Environments
The paper proposes T-ConSG, a LiDAR-based real-time temporal construction scene graph that uses spatial-relation edges and event-participation edges to jointly represent free space, static objects, dynamic objects, and environmental events. The framework incrementally builds the graph from LiDAR geometric evidence and explicitly represents changes in accumulated spatial evidence as installation and removal events. The authors validated the representation in three studies: dynamic-aware navigation on a bricklaying testbed, construction progress monitoring on the ConSLAM dataset, and online change detection in a simulated environment.
arXiv cs.RO ·