SQ-HSG: Hierarchical Semantic 3D Scene Graph Construction with Superquadric-Based Object Modeling

This repository contains the implementation of the method proposed in our paper.
The code will be made publicly available upon the acceptance of the paper.

Notice
The source code will be released after the paper is officially accepted for publication. Stay tuned!

Demo Video

A short demonstration of our method is available on YouTube:
📺 Watch the demo

📺 Additional demos will be provided upon paper acceptance. Stay tuned!

Dependencies

This project is built upon the following open-source libraries:

• ORB_SLAM2 — SLAM framework
• OpenCV — Image processing and computer vision
• YOLO — Semantic segmentation tools
• ikd-Tree — Incremental k-d tree
• llama.cpp — Large Language Model, Visual Language Model
• Additional dependencies will be listed in requirements.txt upon release.

Contact

For further information, please contact:
ziming liu
Beijing Institute of Technology (bit)

ziming_liu-bit@bit.edu.cn

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