@article{opengraphopenvocabularyhierarchical3d,
  title = {OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments},
  author = {Yinan Deng and Jiahui Wang and Jingyu Zhao and Xinyu Tian and Guangyan Chen and Yi Yang and Yufeng Yue},
  year = {2024},
  eprint = {2403.09412},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.09412v2},
}