Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes
Overview
This paper presents PredictiveGraphs, a framework that combines Perpetua* Bayesian filters with 3D scene graphs to enable robots to reason about spatio-semantic relationships over time in semi-static environments. The method is validated in both simulation and real-world dynamic navigation tasks where the environment undergoes structured changes at bi-hourly intervals over three weeks, demonstrating superior performance in predicting future states compared to baselines.
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- arXiv Robotics — research abstractsSignalPredictive Spatio-Temporal Scene Graphs for Semi-Static Scenes
This paper presents PredictiveGraphs, a framework that combines Perpetua* Bayesian filters with 3D scene graphs to enable robots to reason about spatio-semantic relationships over time in semi-static environments. The method is validated in both simulation and real-world dynamic navigation tasks where the environment undergoes structured changes at bi-hourly intervals over three weeks, demonstrating superior performance in predicting future states compared to baselines.
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