@article{3ddynamicscenegraphsactionablespatial,
  title = {3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans},
  author = {Antoni Rosinol and Arjun Gupta and Marcus Abate and Jingnan Shi and Luca Carlone},
  year = {2020},
  eprint = {2002.06289},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2002.06289v2},
}