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.
S-Graphs 2.0 -- A Hierarchical-Semantic Optimization and Loop Closure for SLAM
@misc{bavle2025sgraphs20hierarchicalsemantic,
title={S-Graphs 2.0 -- A Hierarchical-Semantic Optimization and Loop Closure for SLAM},
author={Hriday Bavle and Jose Luis Sanchez-Lopez and Muhammad Shaheer and Javier Civera and Holger Voos},
year={2025},
eprint={2502.18044},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2502.18044},
}
S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
@ARTICLE{10168233,
author={Bavle, Hriday and Sanchez-Lopez, Jose Luis and Shaheer, Muhammad and Civera, Javier and Voos, Holger},
journal={IEEE Robotics and Automation Letters},
title={S-Graphs+: Real-Time Localization and Mapping Leveraging Hierarchical Representations},
year={2023},
volume={8},
number={8},
pages={4927-4934},
doi={10.1109/LRA.2023.3290512}}
Situational Graphs for Robot Navigation in Structured Indoor Environments
@ARTICLE{9826367,
author={Bavle, Hriday and Sanchez-Lopez, Jose Luis and Shaheer, Muhammad and Civera, Javier and Voos, Holger},
journal={IEEE Robotics and Automation Letters},
title={Situational Graphs for Robot Navigation in Structured Indoor Environments},
year={2022},
volume={7},
number={4},
pages={9107-9114},
doi={10.1109/LRA.2022.3189785}}
