vS-Graphs v1.5.0

🚀 Release: vS-Graphs ROS 2 Jazzy with n-wall Room Support

This version of the vS-Graphs adds full support for the n-wall room detection, room-wall constraints, and updated functionalities.

🔧 What's New

• ✅ The unique concept of n-wall room instead of covering 4-wall rooms and 2-wall rooms (corridors).
• ✅ New optimization paradigms (perpendicularity and parallelism) for room-driven wall optimization.
• ✅ Updated logs, documentation, and comments.

Full Changelog:

• v1.4.0...v1.5.0

Read more:

• 📗 Pre-print in ArXiv

vS-Graphs v1.4.0

🚀 Release: vS-Graphs ROS 2 Jazzy - Inertial Sensor Support

This version of the vS-Graphs adds full support for the Inertial (IMU) sensor.

🔧 What's New

• ✅ New launch file and support for RGB-D-IMU.
• ✅ New Structural Element (floor) added. For now, it only supports single-floor.
• ✅ Supports Situation-Graphs-Messages, similar to S-Graphs.

Full Changelog:

• v1.3.0...v1.4.0

Read more:

• 📗 Pre-print in ArXiv

vS-Graphs v1.3.0

🚀 Release: vS-Graphs ROS 2 Jazzy Support

This version of the vS-Graphs adds full support for ROS 2 Jazzy.

🔧 What's New

• ✅ Compatibility with ROS 2 Jazzy.
• ✅ Compatibility with Scene Segment ROS 2.
• ✅ Bug fixes and performance improvements.
• ✅ Updated dependencies and launch files for Jazzy-based environments.

Read more:

• 📗 Pre-print in ArXiv

vS-Graphs v1.2.0

The newest release of visual S-Graphs (vS-Graphs) in ROS1 supports the features listed below:

Features

• Bug fixes and performance improvements

Read more:

• 📗 Pre-print in ArXiv

vS-Graphs v1.1.0

The newest release of visual S-Graphs (vS-Graphs) supports the features listed below:

Features

• Incorporating Building Components (BCs), including walls and ground surfaces, with no need to detect ArUco markers
• Integrating Structural Elements (SEs), including Manhattan rooms and corridors, into the final scene graph
• Improved semantic elements detection using point clouds
• Bug fixes and performance improvements

Read more:

• 📗 Pre-print in ArXiv

vS-Graphs v1.0.0

The very first release of Visual S-Graphs supports the features listed below:

Features

• Build upon ORB-SLAM 3.0
• Supports ROS-based libraries (owing to this repo)
• Integration with the ArUco library for marker detection and recognition
• Detection of semantic entities, including walls, doorways, corridors, and rooms
• Improving map reconstruction accuracy by adding new constraints among semantic objects
• Modification of ATLAS based on the above changes
• Showing the detected semantic entities hierarchically-

Read more:

• 📗 Pre-print in ArXiv
• 📗 Paper in Robotics Journal
• 🎥 Video in SnT-ARG YouTube channel