Article (Scientific journals)
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
Bavle, Hriday; Sanchez Lopez, Jose Luis; Shaheer, Muhammad et al.
2023In IEEE Robotics and Automation Letters
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Keywords :
SLAM; Localization
Abstract :
[en] In this paper, we present an evolved version of the Situational Graphs, which jointly models in a single optimizable factor graph, a SLAM graph, as a set of robot keyframes, containing its associated measurements and robot poses, and 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 those elements. Our proposed S-Graphs+ is a novel four-layered factor graph that includes: (1) a keyframes layer with robot pose estimates, (2) a walls layer representing wall surfaces, (3) a rooms layer encompassing sets of wall planes, and (4) a floors layer gathering the rooms within a given floor level. The above graph is optimized in real-time to obtain a robust and accurate estimate of the robot's pose and its map, simultaneously constructing and leveraging the high-level information of the environment. To extract such high-level information, we present novel room and floor segmentation algorithms utilizing the mapped wall planes and free-space clusters. We tested S-Graphs+ on multiple datasets including, simulations of distinct indoor environments, on real datasets captured over several construction sites and office environments, and on a real public dataset of indoor office environments. S-Graphs+ outperforms relevant baselines in the majority of the datasets while extending the robot situational awareness by a four-layered scene model. Moreover, we make the algorithm available as a docker file.
Disciplines :
Computer science
Author, co-author :
Bavle, Hriday  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Sanchez Lopez, Jose Luis  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Shaheer, Muhammad  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Civera, Javier
Voos, Holger  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
yes
Language :
English
Title :
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
Publication date :
June 2023
Journal title :
IEEE Robotics and Automation Letters
eISSN :
2377-3766
Publisher :
Institute of Electrical and Electronics Engineers, New York, United States - New York
Peer reviewed :
Peer Reviewed verified by ORBi
Focus Area :
Computational Sciences
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since 12 February 2023

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