perceive_semantix_lib

perceive_semantix_lib

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Table of Contents

• Installation
• License
• Code Outline

Installation

pip install perceive_semantix_lib

License

perceive_semantix_lib is distributed under the terms of the MIT license.

Code Outline

Scene Class

class Scene:
    Attributes:
        Config
        ObjectDetector
        ObjectTracker
        |- dict[UUID, SceneObjects]
        |- active_objects: list[UUID]
        |- inactive_objects: list[UUID]
        ...

    Methods:
        step(self, posed_rgbd: InputDataStamped)
        ...

The Scene class represents the core world model, maintaining and updating object hypotheses as new frames are processed.

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Scene.step(posed_rgbd: InputDataStamped)

Processes a new input frame (posed_rgbd) and updates the scene accordingly. The main steps are:

1. Detection

   Detect visible objects in the current frame using ObjectDetector, producing detections.

2. Projection

   Project existing scene objects onto the camera plane to determine which ones are expected to be visible (SceneObject.project_onto_camera).

3. Matching

   Establish correspondences between detections and existing objects:

   • Initialize adjacency structures (ObjectDetectionAdjacency).
   • Match detections to objects assuming static positions (_match_detections_to_objects).
   • Match remaining detections allowing object movement (match_detections_to_objects_semantically_greedy_icp).
   • Match existing objects to each other (match_objects_to_objects).
   • Attempt re-identification of inactive or missing objects (match_objects_to_objects).

4. Merging & Creation

   Merge matched objects and instantiate new ones as needed, based on the populated adjacency structure (merge_from_adjacency).

5. Post-processing

   Log the outcome and, if necessary, filter the scene to reduce noise and maintain consistency.

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Extensions

OccupancyMap

Takes in a Scene to compute a 2D occupancy grid.

ExplorationPriorityMap

Implements the exploration priority map as described in https://arxiv.org/abs/2509.19851 based on a list of active objects provided by Scene.get_objects().