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 <a href="https://github.com/snt-arg/lidar_situational_graphs/actions/workflows/iron_build.yaml"><img src="https://github.com/snt-arg/lidar_situational_graphs/actions/workflows/iron_build.yaml/badge.svg" /></a>
 </div>
 
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+**LiDAR Situational Graphs (S-Graphs)** is a ROS2 package for generating in real-time four-layered hierarchical factor graphs for single or multi-floor scenes. It reepresents a scene graph using 3D LiDAR which includes **_Keyframes_** registring the robot poses, **_Walls_** which map wall planes, **_Rooms Layer_** constraining the wall planes using 4 wall-room or 2 wall-room factors, **_Floors_** constraining the rooms within a given floor level. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor). We have tested this package mostly with Ouster OS-1 and Velodyne (VLP16) sensors in structured indoor environments. This work is a fork of [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) which as previously in ROS1.
 
-Refer to the documentation available [here](https://snt-arg.github.io/lidar_situational_graphs)
+![logo](./docs/imgs/main_image.png)
+
+## 📖 Published Papers <a id="published-papers"></a>
+
+<details >
+    <summary><a href="https://arxiv.org/abs/2212.11770">S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations </a>
+    </summary>
+
+    @ARTICLE{10168233,
+     author={Bavle, Hriday and Sanchez-Lopez, Jose Luis and Shaheer, Muhammad and Civera, Javier and Voos, Holger},
+     journal={IEEE Robotics and Automation Letters},
+     title={S-Graphs+: Real-Time Localization and Mapping Leveraging Hierarchical Representations},
+     year={2023},
+     volume={8},
+     number={8},
+     pages={4927-4934},
+     doi={10.1109/LRA.2023.3290512}}
+
+</details>
+<details>
+    <summary><a href="https://arxiv.org/abs/2202.12197">Situational Graphs for Robot Navigation in Structured Indoor Environments</a></summary>
+
+      @ARTICLE{9826367,
+        author={Bavle, Hriday and Sanchez-Lopez, Jose Luis and Shaheer, Muhammad and Civera, Javier and Voos, Holger},
+        journal={IEEE Robotics and Automation Letters},
+        title={Situational Graphs for Robot Navigation in Structured Indoor Environments},
+        year={2022},
+        volume={7},
+        number={4},
+        pages={9107-9114},
+        doi={10.1109/LRA.2022.3189785}}
+
+</details>
+
+
+## Documentation
+
+For installation refer to the documentation available [here](https://snt-arg.github.io/lidar_situational_graphs)