Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs.
Yifeng ZhuJonathan TremblayStan BirchfieldYuke ZhuPublished in: ICRA (2021)
Keyphrases
- symbolic description
- geometric information
- geometric constraints
- surface geometry
- video sequences
- d scene
- graph theoretical
- real scenes
- multiple images
- single image
- dynamic scenes
- graph theory
- topological information
- three dimensional
- scene analysis
- calibrated images
- high level
- geometric primitives
- projective geometry
- scene understanding
- graph mining
- photometric properties
- graph matching
- object geometry
- fundamental problem in computer vision
- symbolic representation
- object parts
- scene classification
- ground plane
- complex scenes
- geometric structure
- graph structure
- spatial relations
- reeb graph