{"paper":{"title":"S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Holger Voos, Hriday Bavle, Javier Civera, Jose Luis Sanchez-Lopez, Muhammad Shaheer","submitted_at":"2022-12-22T15:06:21Z","abstract_excerpt":"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.\n  Specifically, our S-Graphs+ is a novel four-layered factor graph that includes: (1) a keyframes layer with robot pose estimates, (2) a walls layer representing wall surfaces, (3) a r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.11770","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2212.11770/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}