LiDAR S-Graphs

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LiDAR Situational Graphs (S-Graphs) is a ROS2 package for generating in real-time four-layered hierarchical factor graphs for single or multi-floor scenes. It reepresents a scene graph using 3D LiDAR which includes Keyframes registring the robot poses, Walls which map wall planes, Rooms Layer constraining the wall planes using 4 wall-room or 2 wall-room factors, Floors constraining the rooms within a given floor level. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor). We have tested this package mostly with Ouster OS-1 and Velodyne (VLP16) sensors in structured indoor environments. This work is a fork of hdl_graph_slam which as previously in ROS1.

Additional video: Dataset Comparison