Contributions

The main contributions of this approach can be classified into separate

A Visual SLAM Framework

A multi-threaded real-time VSLAM, able to recognize, localize, and map building components for less pose and localization errors

Rich Map Reconstruction

A novel methodology for extracting structural elements (i.e., rooms and corridors) from detected building components (i.e., walls and grounds)

Environment-Specific Element Validation

An algorithm for verifying and enriching geometric objects with their corresponding semantic entities

Real-world Experiments

Conducting real-world experiments under various indoor conditions to assess the effectiveness of the proposed approach

Evaluations

Reconstructed Maps enriched with Building Components:

Nxt Prv
  • ICL Dataset - Seq01
  • ICL Dataset- Seq02

ICL Dataset - Sequence deer_mav_fast

ICL Dataset - Sequence deer_mav_fast

ICL Dataset - Sequence deer_mav_fast

ICL Dataset - Sequence deer_mav_fast

OpenLoris Dataset - Sequence office1-2

TUM-RGBD Dataset - Sequence frb1_room

AutoSense Dataset - Seq05

AutoSense Dataset - Seq06

AutoSense Dataset - Seq07

AutoSense Dataset - Seq08

Mapping Performance Across 10 iterations using Root Mean Square Error (RMSE):

Nxt Prv
  • AutoSense Dataset - Sequence A1
  • AutoSense Dataset - Sequence A2
  • AutoSense Dataset - Sequence A5
  • AutoSense Dataset - Sequence A6
  • AutoSense Dataset - Sequence A7
  • AutoSense Dataset - Sequence A8

Team

Ali Tourani


Doctoral Researcher

SnT, University of Luxembourg, Luxembourg

Saad Ejaz


Doctoral Researcher

SnT, University of Luxembourg, Luxembourg

Hriday Bavle


Postdoc. Researcher

SnT, University of Luxembourg, Luxembourg

David Morilla-Cabello

Ph.D. Candidate

I3A Institute, Universidad de Zaragoza, Spain

Jose Luis Sanchez-Lopez

Research Scientist

SnT, University of Luxembourg, Luxembourg

Holger Voos


Full Professor

SnT, University of Luxembourg, Luxembourg

Citation

You can cite our paper using the reference text below:

@article{tourani2024vsgraphs,
author = {A. Tourani, H. Bavle, S. Ejaz, D. Morilla-Cabello, J.L. Sanchez-Lopez, and H. Voos},
title = {vs-graphs: Integrating Visual SLAM and Situational Graphs using Multi-level Scene Understanding},
year = {2024},
url = {TBD},
archivePrefix = {arXiv},
primaryClass = {cs.IR},
}

Contact Us

https://www.uni.lu/snt-en/research-groups/arg/
https://github.com/snt-arg
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