Robot Localization Using Situational Graphs (S-Graphs) and Building Architectural Plans

This paper presents robot localization using building architectural plans and hierarchical SLAM. We extract geometric, semantic as well as topological information from the architectural plans in the form of walls and rooms, and create the topological and metric-semantic layer of the Situational Graphs (S-Graphs) before navigating in the environment. When the robot navigates in the construction environment, it uses the robot odometry and 3D lidar measurements to extract planar wall surfaces. A particle filter method exploits the previously built situational graph and its available geometric, semantic, and topological information to perform global localization. We validate our approach in simulated and real datasets captured on ongoing construction sites presenting state-of-the-art results when comparing it against traditional geometry-based localization techniques.