S-Graphs+: Real-Time Localization and Mapping Leveraging Hierarchical Representations

Hriday Bavle; Jose Luis Sanchez-Lopez; Muhammad Shaheer; Javier Civera; Holger Voos

RA-L 202362 citations

S-Graphs+: Real-Time Localization and Mapping Leveraging Hierarchical Representations

Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, Holger Voos

Abstract

In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising associated measurements and robot poses, and (2) a 3D scene graph, as a high-level representation of the environment that encodes its different geometric elements with semantic attributes and the relational information between them.

BibTeX

@inproceedings{ral2023_sgraphsrealtimel,
  title = {S-Graphs+: Real-Time Localization and Mapping Leveraging Hierarchical Representations},
  author = {Hriday Bavle and Jose Luis Sanchez-Lopez and Muhammad Shaheer and Javier Civera and Holger Voos},
  booktitle = {RA-L 2023},
  year = {2023}
}