SpotMAP: Robotic Scene Understanding

System Overview

SpotMAP combines advanced computer vision techniques with robotic sensing to create comprehensive scene understanding

Time-synchronized data extraction
Robust Open3D SLAM
High-fidelity 3D reconstruction
Precise instance segmentation
Dynamic scene graph generation

Figure: Overview of the SpotMAP pipeline modules

Interactive 3D Visualization

Load and explore your own .ply and .obj files or view our demo scenes

Scene:

Visualization:

Controls: Click and drag to rotate • Scroll to zoom • Right-click and drag to pan

Supported formats: .ply (point clouds), .obj (3D models)

Featured Demos

See SpotMAP in action

Live Volumetric Fusion

Real-time 3D reconstruction and mapping

Point Cloud after Denoising

High-quality 3D point cloud processing

Dataset

SpotMAP operates on RGB-D sequences recorded with the Boston Dynamics Spot robot. Each sequence provides:

RGB Images

High-resolution color imagery

Depth Maps

Precise distance measurements

Camera Poses

Accurate positioning data

Citation

@misc{iyer2025spotmap,
  title        = {SpotMAP: Robotic Scene Understanding through Reconstruction and Dynamic Scene Graphs},
  author       = {Vikram Iyer and Yagiz Devre and Roham Zendehdel Nobari and Kerem Kılıç},
  year         = {2025},
  eprint       = {arXiv:2506.12345},
  archivePrefix= {arXiv},
  primaryClass = {cs.RO},
  url          = {https://arxiv.org/abs/2506.12345}
}

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