@article{hydrarealtimehierarchical3dscenegraphcon,
  title = {Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation},
  author = {Hyungtae Lim and Nathan Hughes and Xihang Yu and Ruihan Xu and Yun Chang and Jingnan Shi and Rajat Talak and Luca Carlone},
  year = {2026},
  eprint = {2607.09455},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.09455},
}