[Project] vS-Graphs: Coupling Visual SLAM and 3D Scene Graphs

January 2023 - March 2026

Affiliation: Ph.D. Core Research Project, University of Luxembourg

Target Audience: Robotics Research Communities

Project Ecosystem: Web-page | GitHub | Video | Paper (IEEE RAL) | Paper (ICRA-W) | Paper (ICUAS) | Paper (Robotics) | Paper (IROS)

  • Real-Time Visual SLAM with Optimizable 3D Scene Graphs: groundbreaking, real-time Visual SLAM framework that bridges the gap between raw spatial mapping and human-readable map comprehension.
  • Hierarchical Structural Inference: translates low-level building components into broader spatial entities like rooms and distinct floor layouts, creating an organized semantic hierarchy.
  • Optimizable 3D Scene Representation: embeds environmental logic into a unified, optimizable graph structure, continuously refining both topological associations and absolute spatial metrics in real time.
  • 💡 Stack: Python, C++, OpenCV, ROS
A. Tourani, M. Fernandez-Cortizas, S. Ejaz, D. Perez-Saura, A. Bikandi-Noya, J.L. Sanchez-Lopez, and H. Voos, "Passage-Aware Structural Mapping for RGB-D Visual SLAM," IEEE International Conference on Robotics & Automation (ICRA'26) - Robots Meet Prior Maps Workshop, Vienna, Austria, 2026.
DOI: 10.48550/arXiv.2604.24707
A. Tourani, S. Ejaz, H. Bavle, M. Fernandez-Cortizas, D. Morilla-Cabello, J.L. Sanchez-Lopez, and H. Voos, "vS-Graphs: Tightly Coupling Visual SLAM and 3D Scene Graphs Exploiting Hierarchical Scene Understanding," IEEE Robotics and Automation Letters (IEEE RA-L), 2026.
DOI: 10.48550/arXiv.2503.01783
A. Tourani, S. Ejaz, H. Bavle, H. Voos, J.L. Sanchez-Lopez, and H. Voos, "Towards Localizing Structural Elements: Merging Geometrical Detection with Semantic Verification in RGB-D Data," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'24) - 14th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, 2024. (Link: PDF)
A. Radwan, A. Tourani, H. Bavle, H. Voos, and J. L. Sanchez-Lopez, "UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments," International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1109-1116, Chania - Crete, Greece, 2024.
DOI: 10.1109/ICUAS60882.2024.10556948
A. Tourani, H. Bavle, D.I. AvÅŸar, J.L. Sanchez-Lopez, R. Munoz-Salinas, and H. Voos, "Vision-Based Situational Graphs Exploiting Fiducial Markers for the Integration of Semantic Entities," Robotics, vol. 13, no. 7, 2024.
DOI: 10.3390/robotics13070106
A. Tourani, H. Bavle, J. L. Sanchez-Lopez, R. Munoz-Salinas, and H. Voos, "Marker-based Visual SLAM leveraging Hierarchical Representations," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),, pp. 3461-3467, Detroit, MI, USA, 2023.
DOI: 10.1109/IROS55552.2023.10341891