diff --git a/README.md b/README.md index 00998160..bab141d3 100644 --- a/README.md +++ b/README.md @@ -8,13 +8,11 @@ **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.

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- ## 📖 Published Papers
diff --git a/docs/index.md b/docs/index.md index 032edad8..e6e69dee 100644 --- a/docs/index.md +++ b/docs/index.md @@ -9,7 +9,12 @@ **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. -![logo](./imgs/main_building.gif){align=center} +
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## 📖 Published Papers