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Learning High-level Semantic-Relational Concepts for SLAM
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.
Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs
Firstly, we develop a method for converting the plan of a building into what we denote as an architectural graph (A-Graph).
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