Methods and systems for generating graph representations of a scene

1 . A computer-implemented method of generating a graph representation of a scene based on a single observation of the scene, said graph representation comprising a plurality of nodes and edges, wherein a node represents an object within the scene, and wherein an edge connects pairs of nodes of the plurality of nodes and represents a spatial relationship between objects within the scene, the method comprising:

receiving sensor data representative of a perceived scene captured with a sensor;

defining a plurality of nodes based on the received sensor data;

creating a densely connected graph by connecting each node to a number of nearest neighbour nodes;

predicting, for each pair of connected nodes of the densely connected graph, at least a node probability, wherein the node probability represents a probability that the pair of connected nodes represent the same object; and

generating a graph representation of the perceived scene based at least on the densely connected graph, and the predicted node probability.

2 . The computer-implemented method of claim 1 , wherein defining a plurality of nodes based on the captured perceived scene comprises:

identifying one or more objects within the perceived scene based on the received sensor data;

determining whether each identified object is an object of interest, wherein an object of interest is preferably a static object; and

defining a plurality of nodes, wherein each node corresponds to an object of interest within the perceived scene.

3 . The computer-implemented method of claim 1 , further comprising merging the pair of connected nodes when the node probability is above a first threshold.

4 . The computer-implemented method of claim 1 , further comprising removing an edge from between the pair of nodes when an edge probability of the edge between the pair of nodes is below a second threshold.