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README.md

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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. 
 
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 ## 📖 Published Papers <a id="published-papers"></a>
 
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