Learning High-level Semantic-Relational Concepts for SLAM

arXiv:2310.00401v2 Announce Type: replace
Abstract: Recent works on SLAM extend their pose graphs with higher-level semantic concepts like Rooms exploiting relationships between them, to provide, not only a richer representation of the situation/environment but also to improve the accuracy of its estimation. Concretely, our previous work, Situational Graphs (S-Graphs+), a pioneer in jointly leveraging semantic relationships in the factor optimization process, relies on semantic entities such as Planes and Rooms, whose relationship is mathematically defined. Nevertheless, there is no unique …

abstract accuracy arxiv concepts cs.lg cs.ro environment graphs relational relationships representation semantic slam them type work