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SG-Reg: Generalizable and Efficient Scene Graph Registration

IEEE Transactions on robotics (IEEE TRO), 2025

20 April 2025

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Papers citing "SG-Reg: Generalizable and Efficient Scene Graph Registration"

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Title
SGAligner++: Cross-Modal Language-Aided 3D Scene Graph Alignment Binod Singh S. Sarkar Iro Armeni 102 0 0 23 Sep 2025
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation Xu Liu Jiuzhou Lei Ankit Prabhu Yuezhan Tao Igor Spasojevic Pratik Chaudhari Nikolay Atanasov Vijay Kumar 419 21 0 25 Jun 2024
SG-PGM: Partial Graph Matching Network with Semantic Geometric Fusion for 3D Scene Graph Alignment and Its Downstream Tasks Yaxu Xie A. Pagani Didier Stricker 245 6 0 28 Mar 2024
Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation Abdelrhman Werby Chen Huang M. Büchner Abhinav Valada Wolfram Burgard 291 153 0 26 Mar 2024
FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models Chuhao Liu Ke Wang Jieqi Shi Zhijian Qiao Shaojie Shen VLM 178 10 0 07 Feb 2024
Living Scenes: Multi-object Relocalization and Reconstruction in Changing 3D EnvironmentsComputer Vision and Pattern Recognition (CVPR), 2023 Liyuan Zhu Shengyu Huang Konrad Schindler Iro Armeni 264 13 0 14 Dec 2023
EfficientSAM: Leveraged Masked Image Pretraining for Efficient Segment AnythingComputer Vision and Pattern Recognition (CVPR), 2023 Yunyang Xiong Bala Varadarajan Lemeng Wu Xiaoyu Xiang Fanyi Xiao ... Dilin Wang Fei Sun Forrest N. Iandola Raghuraman Krishnamoorthi Vikas Chandra VLM 272 229 0 01 Dec 2023
Towards Accurate Loop Closure Detection in Semantic SLAM with 3D Semantic Covisibility GraphsIEEE Robotics and Automation Letters (RA-L), 2022 Zhentian Qian Jie Fu Jing Xiao 191 34 0 21 Nov 2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid ModelIEEE Transactions on Automation Science and Engineering (IEEE TASE), 2023 Zhijian Qiao Zehuan Yu Binqian Jiang Huan Yin Shaojie Shen 3DPC 215 28 0 22 Aug 2023
LightGlue: Local Feature Matching at Light SpeedIEEE International Conference on Computer Vision (ICCV), 2023 Philipp Lindenberger Paul-Edouard Sarlin Marc Pollefeys 3DV VLM 330 703 0 23 Jun 2023
Recognize Anything: A Strong Image Tagging Model Youcai Zhang Xinyu Huang Jinyu Ma Zhaoyang Li Zhaochuan Luo ... Tong Luo Yaqian Li Siyi Liu Yandong Guo Lei Zhang VLM 330 327 0 06 Jun 2023
Towards View-invariant and Accurate Loop Detection Based on Scene GraphIEEE International Conference on Robotics and Automation (ICRA), 2023 Chuhao Liu Shaojie Shen 130 6 0 24 May 2023
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems Nathan Hughes Yun Chang Siyi Hu Rajat Talak Rumaisa Abdulhai Jared Strader Luca Carlone 192 76 0 11 May 2023
SGAligner : 3D Scene Alignment with Scene GraphsIEEE International Conference on Computer Vision (ICCV), 2023 S. Sarkar O. Mikšík Marc Pollefeys Dániel Baráth Iro Armeni 200 22 0 28 Apr 2023
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot TeamsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Yun Chang Nathan Hughes Aaron Ray Luca Carlone 122 32 0 26 Apr 2023
Segment AnythingIEEE International Conference on Computer Vision (ICCV), 2023 A. Kirillov Eric Mintun Nikhila Ravi Hanzi Mao Chloe Rolland ... Spencer Whitehead Alexander C. Berg Wan-Yen Lo Piotr Dollár Ross B. Girshick MLLM VLM 806 10,649 0 05 Apr 2023
Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object DetectionEuropean Conference on Computer Vision (ECCV), 2023 Shilong Liu Zhaoyang Zeng Tianhe Ren Feng Li Hao Zhang ... Chun-yue Li Jianwei Yang Hang Su Jun Zhu Lei Zhang ObjD 670 3,124 0 09 Mar 2023
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical RepresentationsIEEE Robotics and Automation Letters (RA-L), 2022 Hriday Bavle Jose Luis Sanchez-Lopez Muhammad Shaheer Javier Civera Holger Voos 246 47 0 22 Dec 2022
$D^2$ SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial SwarmIEEE Transactions on robotics (TRO), 2022 Hao Xu Peize Liu Xinyi Chen Shaojie Shen 289 55 0 03 Nov 2022
LaMAR: Benchmarking Localization and Mapping for Augmented RealityEuropean Conference on Computer Vision (ECCV), 2022 Paul-Edouard Sarlin Mihai Dusmanu Johannes L. Schonberger Pablo Speciale Lukas Gruber Viktor Larsson O. Mikšík Marc Pollefeys 175 106 0 19 Oct 2022
STD: Stable Triangle Descriptor for 3D place recognitionIEEE International Conference on Robotics and Automation (ICRA), 2022 Chongjian Yuan Jiarong Lin Zuhao Zou Xiaoping Hong Fu Zhang 195 94 0 26 Sep 2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale EnvironmentsIEEE Transactions on robotics (TRO), 2022 Peng Yin Haowen Lai Shiqi Zhao Ruohai Ge Ji Zhang Howie Choset Sebastian Scherer 218 35 0 14 Jul 2022
DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object DetectionInternational Conference on Learning Representations (ICLR), 2022 Hao Zhang Feng Li Shilong Liu Lei Zhang Hang Su Jun Zhu L. Ni H. Shum ViT 633 2,122 0 07 Mar 2022
Situational Graphs for Robot Navigation in Structured Indoor EnvironmentsIEEE Robotics and Automation Letters (RA-L), 2022 Hriday Bavle Jose Luis Sanchez-Lopez Muhammad Shaheer Javier Civera Holger Voos 182 50 0 24 Feb 2022
Geometric Transformer for Fast and Robust Point Cloud RegistrationComputer Vision and Pattern Recognition (CVPR), 2022 Zheng Qin Hao Yu Changjian Wang Yulan Guo Yuxing Peng Kaiping Xu ViT 3DPC 197 386 0 14 Feb 2022
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization Nathan Hughes Yun Chang Luca Carlone 3DPC 318 211 0 31 Jan 2022
Neither Fast Nor Slow: How to Fly Through Narrow TunnelsIEEE Robotics and Automation Letters (RA-L), 2022 Luqi Wang Hao Xu Yichen Zhang Shaojie Shen 124 16 0 10 Jan 2022
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot SystemsIEEE Transactions on robotics (TRO), 2021 Yulun Tian Yun Chang Fernando Herrera Arias Carlos Nieto-Granda Jonathan P. How Luca Carlone 273 232 0 28 Jun 2021
How Attentive are Graph Attention Networks?International Conference on Learning Representations (ICLR), 2021 Shaked Brody Uri Alon Eran Yahav GNN 365 1,426 0 30 May 2021
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMIEEE Transactions on robotics (IEEE Trans. Robot.), 2020 C. Campos Richard Elvira J. Rodríguez José M.M. Montiel Juan D. Tardós 592 3,568 0 23 Jul 2020
PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding Saining Xie Jiatao Gu Demi Guo C. Qi Leonidas Guibas Or Litany 3DPC 566 736 0 21 Jul 2020
Deep Global Registration Chris Choy W. Dong V. Koltun 3DPC 175 541 0 24 Apr 2020
TEASER: Fast and Certifiable Point Cloud RegistrationIEEE Transactions on robotics (IEEE Trans. Robot.), 2020 Heng Yang Jingang Shi Luca Carlone 3DPC 544 784 0 21 Jan 2020
SuperGlue: Learning Feature Matching with Graph Neural NetworksComputer Vision and Pattern Recognition (CVPR), 2019 Paul-Edouard Sarlin Daniel DeTone Tomasz Malisiewicz Andrew Rabinovich 3DPC OffRL 535 2,359 0 26 Nov 2019
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and MappingIEEE International Conference on Robotics and Automation (ICRA), 2019 Antoni Rosinol Marcus Abate Yun Chang Luca Carlone 311 539 0 06 Oct 2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier RejectionIEEE Robotics and Automation Letters (RA-L), 2019 Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 389 272 0 18 Sep 2019
RIO: 3D Object Instance Re-Localization in Changing Indoor EnvironmentsIEEE International Conference on Computer Vision (ICCV), 2019 Johanna Wald A. Avetisyan Nassir Navab Federico Tombari Matthias Nießner 178 196 0 16 Aug 2019
Deep Closest Point: Learning Representations for Point Cloud RegistrationIEEE International Conference on Computer Vision (ICCV), 2019 Yue Wang Justin Solomon 3DPC 183 959 0 08 May 2019
KPConv: Flexible and Deformable Convolution for Point Clouds Hugues Thomas C. Qi Jean-Emmanuel Deschaud B. Marcotegui F. Goulette Leonidas Guibas 3DPC 690 2,945 0 18 Apr 2019
A Practical Maximum Clique Algorithm for Matching with Pairwise Constraints Álvaro Parra Tat-Jun Chin Frank Neumann Tobias Friedrich Maximilian Katzmann 3DV 3DPC 101 37 0 05 Feb 2019
From Coarse to Fine: Robust Hierarchical Localization at Large Scale Paul-Edouard Sarlin Cesar Cadena Roland Siegwart Marcin Dymczyk 3DV 267 1,027 0 09 Dec 2018
BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding Jacob Devlin Ming-Wei Chang Kenton Lee Kristina Toutanova VLM SSL SSeg 2.8K 106,623 0 11 Oct 2018
Fusion++: Volumetric Object-Level SLAM J. McCormac R. Clark Michael Bloesch Andrew J. Davison Stefan Leutenegger 3DH 289 329 0 25 Aug 2018
QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM Lachlan Nicholson Michael Milford Niko Sünderhauf 245 316 0 10 Apr 2018
X-View: Graph-Based Semantic Multi-View Localization Abel Gawel Carlo Del Don Roland Siegwart Juan I. Nieto Cesar Cadena 214 171 0 28 Sep 2017
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State EstimatorIEEE Transactions on robotics (T-RO), 2017 Tong Qin Peiliang Li Shaojie Shen 239 3,853 0 13 Aug 2017
Attention Is All You NeedNeural Information Processing Systems (NeurIPS), 2017 Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 2.5K 157,684 0 12 Jun 2017
Mask R-CNN Kaiming He Georgia Gkioxari Piotr Dollár Ross B. Girshick ObjD 865 30,124 0 20 Mar 2017
ScanNet: Richly-annotated 3D Reconstructions of Indoor ScenesComputer Vision and Pattern Recognition (CVPR), 2017 Angela Dai Angel X. Chang Manolis Savva Maciej Halber Thomas Funkhouser Matthias Nießner 3DPC 3DV 1.2K 4,800 0 14 Feb 2017
PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation C. Qi Hao Su Kaichun Mo Leonidas Guibas 3DH 3DPC 3DV PINN 1.1K 16,183 0 02 Dec 2016