Topic Request: SLAM for Hierarchical Representations and 3D Scene Graphs

[DennisRotondi]

I think it would be great if Part 3 of the handbook introduces, in Chapter 14, how SLAM supports hierarchical representations, particularly in the context of 3D scene graph generation, and develops this topic further in a dedicated chapter. I believe [1] is a good starting point, but I would also like to read the authors' overall perspective on SLAM's advantages with this data structure in this section. Additionally, it would be valuable to explore what efforts the community could undertake to combine implicit representations and foundation models while maintaining robust mapping. This collection of papers that I’ve compiled might provide some useful food for thought.

[1] Hughes N, Chang Y, Hu S, et al. Foundations of spatial perception for robotics: Hierarchical representations and real-time systems. The International Journal of Robotics Research. 2024;43(10):1457-1505.