Description
A robot with only a point cloud knows where obstacles are but not which space is a room or what is an object. Hydra from MIT SPARK is a system that builds layered 3D scene graphs from sensor data in real time, organizing geometry into objects, places, rooms and floors.
Written in C++ with ROS support, it underpins semantic navigation and high-level planning.
Layered graphs:Objects, places and rooms.
Real time:Built while moving.
ROS:Robot integration.
Written in C++ with ROS support, it underpins semantic navigation and high-level planning.
Features
Layered graphs:Objects, places and rooms.
Real time:Built while moving.
ROS:Robot integration.
