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hovsg / HOV-SG

[RSS2024] Official implementation of "Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation"
https://hovsg.github.io
MIT License
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have you tried building the scene graph online? #9

Closed 18lalala closed 1 month ago

18lalala commented 1 month ago

Hi, Have you tried to build the scene graph online? I mean use a real-time odometry and RGB-D camera to provide sensor data and odometry when the robot is moving, and setup a process to take them as input to build the scene graph.

abwerby commented 1 month ago

This is theoretically possible, but we didn't try that. The merging process is a bit slow and can not run in real-time, you are also bound by how fast SAM+CLIP inference time