LiDARによる動的建設現場向け時空間シーングラフT-ConSG
T-ConSG: A LiDAR-Based Real-Time Temporal Construction Scene Graph for Dynamic and Evolving Environments
LiDARデータから自由空間・静的物体・動的物体・環境イベントを統合的に表現する時空間シーングラフをリアルタイム構築し、建設現場でのナビゲーションや進捗監視に応用した研究。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Yilong Chen, Yong K. Cho
分類: cs.RO
原文アブストラクト
Dynamic and continuously evolving environments present significant challenges for robotic mapping and scene understanding, particularly on construction sites where moving agents, temporary obstacles, and persistent structural changes coexist. While dynamic and long-term SLAM methods can detect motion and environmental changes, their outputs are predominantly metric representations that provide limited structure for higher-level spatial and temporal reasoning. This paper presents a LiDAR-based real-time temporal construction scene graph (T-ConSG) that jointly represents free-space regions, static objects, dynamic objects, and environmental events with spatial-relational and event-participation edges. The proposed framework incrementally constructs the graph from LiDAR-derived geometric evidence, maintaining persistent free-space and static-object information while tracking dynamic objects. Changes in accumulated spatial evidence are further represented as explicit installation and removal events, allowing the graph to capture both transient dynamics and persistent environmental evolution. We demonstrate the proposed representation through three complementary application studies: dynamics-aware navigation in a bricklaying testbed, construction progress monitoring on the ConSLAM dataset, and online change detection in a simulated construction environment. The results demonstrate that the proposed T-ConSG provides a unified representation for organizing spatial and temporal information and supports robotic reasoning across environments containing both short-term dynamics and persistent changes.
