<i>S-Graphs+:</i> Real-Time Localization and Mapping Leveraging Hierarchical Representations
Hriday Bavle, José Luis Sánchez-López, Muhammad Shaheer, Javier Civera, Holger Voos
Abstract
In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising associated measurements and robot poses, and (2) 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 them.
Topics & Concepts
Computer scienceTheoretical computer scienceArtificial intelligenceRobotics and Sensor-Based LocalizationRobotics and Automated SystemsAdvanced Image and Video Retrieval Techniques