Hydra

Hydra was first presented in (Hughes et al., 2022), a spatial perception system that is capable of building 3D scene graphs from sensor data in real-time. A 3D scene graph is a powerful high-level representation of 3D environments that describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and edges represent relations between concepts.

Please check out our repo.

Please refer to (Hughes et al., 2023) for the detailed description of the system.

1. Hughes, N., Chang, Y., Hu, S., Talak, R., Abdulhai, R., Strader, J., & Carlone, L. (2023). Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems. ArXiv Preprint: 2305.07154.

   @article{Hughes23arxiv-hydraFoundations,
     author = {Hughes, N. and Chang, Y. and Hu, S. and Talak, R. and Abdulhai, R. and Strader, J. and Carlone, L.},
     title = {Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems},
     journal = {arXiv preprint: 2305.07154},
     note = {\linkToPdf{https://arxiv.org/pdf/2305.07154.pdf},\linkToVideo{https://youtu.be/AEaBq2-FeY0}},
     pdf = {https://arxiv.org/pdf/2305.07154.pdf},
     year = {2023}
   }
   

2. Hughes, N., Chang, Y., & Carlone, L. (2022). Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. Robotics: Science and Systems (RSS).

   @inproceedings{Hughes22rss-hydra,
     title = {{Hydra:} A Real-time Spatial Perception Engine for {3D} Scene Graph Construction and Optimization},
     fullauthor = {Nathan Hughes, Yun Chang, Luca Carlone},
     author = {Hughes, N. and Chang, Y. and Carlone, L.},
     booktitle = {Robotics: Science and Systems (RSS)},
     note = {\linkToPdf{https://arxiv.org/pdf/2201.13360.pdf}},
     pdf = {https://arxiv.org/pdf/2201.13360.pdf},
     code = {https://github.com/MIT-SPARK/Hydra},
     year = {2022}
   }