Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs.
Yifeng ZhuJonathan TremblayStan BirchfieldYuke ZhuPublished in: CoRR (2020)
Keyphrases
- symbolic description
- geometric information
- geometric constraints
- d scene
- graph theoretical
- three dimensional
- video sequences
- calibrated images
- real scenes
- multiple images
- photometric properties
- single image
- geometric primitives
- geometric models
- scene analysis
- graph theory
- image based modeling
- topological information
- graph mining
- graph representation
- object geometry
- input image
- graph matching
- object parts
- graph databases
- surface geometry
- complex scenes
- graph theoretic
- cad model
- photometric information
- moving objects
- directed graph
- dynamic scenes
- multiple objects
- symbolic representation
- graph structure