From entities to areas: A semantically driven clustering approach for area delimitation on 3D scene graphs

3D scene graph (3DSG) generation is a rapidly evolving field that plays a significant role in robotic autonomy. Traditionally, the focus has been on indoor environments, where robots understand and navigate spaces by abstracting objects and geometric information in a structured graph format. Expanding upon this idea, this paper introduces a 3DSG construction architecture, which enables scene-agnostic abstraction of the environment, with the goal of facilitating the adoption of 3DSG for autonomou